A novel algorithm of normal attitude regulation for the designed end-effector of a flexible drilling robot

作     者：张来喜 王兴松 Zhang Laixi;Wang Xingsong

作者机构：东南大学机械工程学院南京211189 

基　　金：National Science and Technology Major Project(No.2009ZX04014-023) 

出 版 物：《Journal of Southeast University(English Edition)》 (东南大学学报（英文版）)

年 卷 期：2012年第28卷第1期

页      码：29-34页

摘      要：An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.

主 题 词：four-point position regulation end-effector flexible drilling robot drilling machining on curved surface 

学科分类：0810[工学-土木类] 080202[080202] 08[工学] 0804[工学-材料学] 0805[工学-能源动力学] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.3969/j.issn.1003-7985.2012.01.006

馆 藏 号：203247871...