机器人柔性砂带磨削加工力控制研究与应用

发布时间：2018-03-31 20:09

本文选题：机器人　切入点：砂带磨抛机　出处：《制造技术与机床》2017年05期

【摘要】：为了实现柔性加工复杂曲面工件,设计了一种机器人柔性砂带磨削力控制系统。该系统不仅可以兼顾灵活变换机器人的位姿,而且又根据砂带磨抛机加工效率高的特点,比传统磨床更具柔性,更能适应加工复杂曲面工件。磨抛机既能使砂带柔性张紧和快速地调偏,还能实现被动力控制。机器人末端通过安装的六维力传感器,实现机器人的主动力控制。将这两种力控制技术有效结合起来,组成了机器人柔性砂带磨削力控制系统,能够更好地实现磨削过程中的磨削力控制。最后,该机器人柔性磨削力控制系统对钛合金试块和航空复杂曲面叶片进行加工实验,结果都表明工件的表面加工一致性好,而且其表面质量完全满足加工工艺要求,证明了该机器人柔性砂带磨削加工力控制系统的实用性和有效性。
[Abstract]:In order to realize flexible machining of complex curved surface workpieces, a robot flexible abrasive belt grinding force control system is designed. The system can not only take into account the flexible transformation of robot's position and posture, but also according to the characteristics of high efficiency of abrasive belt grinding and polishing machine. It is more flexible than the traditional grinder and is more suitable for machining complex curved surface workpieces. The grinder can not only make the belt flexible tension and adjust the deviation quickly, but also realize the dynamic control. The robot ends through the installation of the six-axis force sensor. The main dynamic control of the robot is realized. The two force control techniques are effectively combined to form the robot flexible abrasive belt grinding force control system, which can better realize the grinding force control in the grinding process. Finally, The experiments of machining titanium alloy test piece and aeronautical complex curved blade by the robot flexible grinding force control system show that the surface processing of the workpiece is consistent, and the surface quality of the workpiece can meet the requirements of machining technology. The practicability and effectiveness of the robot's flexible abrasive belt grinding force control system are proved.
【作者单位】：大连工业大学机械工程与自动化学院;
【基金】：2016年辽宁省本科教改一般项目(2016No.266) 2015年辽宁省大学生创新创业竞赛项目(201510152003)
【分类号】：TG580.6

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