基本信息
项目批准号：51775165
申请代码：E0501
项目名称：冗余驱动刚柔协作搅拌摩擦焊机器人高能(néng)效设计方法与关键技术研究
项目负责人：崔國(guó)华
依托单位：上海工程技术大學(xué)
研究期限：2018-01-01 至 2021-12-31
资助经费：60.0（万元）
项目摘要
中文(wén)摘要：
高性能(néng)搅拌摩擦焊机器人装备是搅拌摩擦焊技术与高端焊接装备的重要发展方向，在航空航天、轨道交通、汽車(chē)、船舶等制造领域具有(yǒu)强烈的应用(yòng)需求。本项目融合刚性驱动与柔索驱动的特点，开展冗余驱动刚柔协作搅拌摩擦焊混联机器人装备的创新(xīn)设计和关键技术研究，发明浮动式双静止轴肩搅拌头新(xīn)结构，构建考虑非線(xiàn)性动力學(xué)特性的冗余驱动多(duō)體(tǐ)系统精确动力學(xué)模型，开展协同考虑结构系统与控制系统一體(tǐ)化设计的多(duō)目标尺度综合，研究基于惯量前馈控制与PID伺服反馈控制相结合的新(xīn)型复合控制策略，建立一套新(xīn)型冗余驱动刚柔协作搅拌摩擦焊机器人装备的高能(néng)效设计方法，并以高铁动車(chē)组等轨道車(chē)辆制造為(wèi)应用(yòng)领域，开发一台新(xīn)型FSW机器人样机进行实验及工程应用(yòng)。该项目研究既能(néng)拓展机器人技术在高端装备制造领域的创新(xīn)应用(yòng)，也是提升我國(guó)焊接制造业水平的迫切需求。
英文(wén)摘要：
Friction Stir Welding (FSW) robot equipment with high performance has become an important development direction of friction stir welding technology and high-tech welding equipment, with overpowering demands in the fields of the aerospace, rail transportation, automobile and ship manufacturing. In this project, inertia feed-forward control and high precision welding of FSW robot will be realized by the fusion of the rigid driven and cable driven characteristics, dealing with innovation design and key technology research of redundant driven and rigid-flexible cooperation FSW robot equipment, inventing a kind of adjustable double stationary shoulder stirring head structure, constructing precise dynamics model of redundant driven multi-body system considering the nonlinear dynamic characteristics. One carry out multi-objective dimensional synthesis in coordination with considering both structure system and control system integrated design. A new compound control strategy based on the combination of inertia feed-forward control and PID servo feedback control is proposed, which achieve inertia feed-forward control and high precision welding of FSW robot. Through the above researches on establishing a new and high efficiency design method in term of redundant driven and rigid-flexible cooperative FSW hybrid robot equipment and regarding high-speed rail EMU and other rail vehicle manufacturing as an application objection, which can develop a novel FSW robot equipment experimental prototypes to conduct an experiment and application test as well. It can not only expand the innovative application of robot technology in the field of high-tech equipment manufacturing, but also improve the urgent requirement to the level of welding manufacturing industry.
                                                                                                                                                                                                      ——来自https://kd.nsfc.gov.cn/