Robot milling posture optimization method and system based on rigidity orientation

• Main Authors: ZHANG XIAOJIAN, YE SONGTAO, DING HAN, YANG JING, YAN SIJIE
• Format: Patent
• Language: Chinese; English
• Published: 07.01.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention discloses a robot milling posture optimization method and system based on rigidity orientation. The method comprises the steps that S1, a difference value of two main rigidities at a tool nose under different joints and different tool axis vectors of a robot system is calculated, and a stable working space and a potential flutter working space are judged and divided; S2, if a machining task is located in the potential flutter working space, the stable redundancy angle range of the robot milling system is obtained in advance; S3, an initial discrete section length is determined according to a workpiece milling path, upper and lower boundaries of a stable redundant angle at the central points of two adjacent sections are calculated, a difference value between the upper and lower boundaries of the stable redundant angle is obtained, a relationship between the difference value and a threshold value is judged, and a discrete section length is determined; and S4, the whole processing path is discretiz