针对变工件刚度的机器人磨削，提出了一种自适应力-刚度协调控制的电磁末端执行器

IF 3.2 3区工程技术 Q2 ENGINEERING, INDUSTRIAL

Cirp Annals-Manufacturing Technology Pub Date : 2025-01-01 DOI:10.1016/j.cirp.2025.04.087

Jixiang Yang , Xu Tang , Han Ding , Yuehong Yin (1)

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引用次数: 0

摘要

针对自定义电磁变刚度末端执行器（EMVSE）用于变工件刚度的机器人磨削，提出了一种自适应力-刚度协调控制框架。EMVSE通过设计音圈电机和电磁弹簧产生主动控制的刚度和力。力-刚度协调控制将具有有界跟踪误差约束的优化非线性PID力控制器与基于工件刚度实时估计的自刚度控制器相结合，实现变工件刚度磨削的精确力控制。实验验证了该方法在提高机器人磨削力控制精度、材料去除精度和表面质量方面的有效性。

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A novel electromagnetic end-effector with adaptive force-stiffness coordinated control for robotic grinding with variable workpiece stiffness

This paper presents an adaptive force-stiffness coordinated control framework for custom-developed electromagnetic variable stiffness end-effector (EMVSE) used in robotic grinding with varying workpiece stiffness. The EMVSE generates actively controlled stiffness and force through designed voice coil motor and electromagnetic spring. The force-stiffness coordination control combines an optimized nonlinear PID force controller with bounded tracking error constraints and a self-stiffness controller based on real-time workpiece stiffness estimation, thereby achieving precise force control for grinding with variable workpiece stiffness. Experiments validate the effectiveness of the proposed method in improving the force control accuracy, material removal accuracy and surface quality of robotic grinding.

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来源期刊

Cirp Annals-Manufacturing Technology 工程技术-工程：工业

CiteScore

7.50

自引率

9.80%

发文量

137

审稿时长

13.5 months

期刊介绍： CIRP, The International Academy for Production Engineering, was founded in 1951 to promote, by scientific research, the development of all aspects of manufacturing technology covering the optimization, control and management of processes, machines and systems. This biannual ISI cited journal contains approximately 140 refereed technical and keynote papers. Subject areas covered include: Assembly, Cutting, Design, Electro-Physical and Chemical Processes, Forming, Abrasive processes, Surfaces, Machines, Production Systems and Organizations, Precision Engineering and Metrology, Life-Cycle Engineering, Microsystems Technology (MST), Nanotechnology.