基于机器人的模具抛光柔顺执行机构研究

发布时间：2018-04-20 20:01

本文选题：模具抛光 + 柔顺机构　；参考：《西华大学》2012年硕士论文

【摘要】：模具抛光是模具加工过程中极其重要的工艺之一,其加工质量是影响模具表面精度的关键因素,提高模具抛光技术是提升模具成型产品质量的最有效途径之一。目前,模具抛光多采用手工加工,抛光质量和生产效率难以提高。为了研究模具抛光这一难点和热点课题,本文设计了一种基于工业机器人的模具抛光柔顺执行机构。柔顺机构可根据模具自由表面曲率变化,自动改变抛光工具的位置和姿态,使抛光工具以恒应力加工,以提高模具表面精度,提高生产效率。本文主要研究内容如下： 1、对工具和工件的微观接触情况建模,分析了接触面上的应力及作用力之间的关系；在常应力的基础上,讨论了工具位置和姿态的调整情况。 2、设计了一种基于工业机器人的模具抛光柔顺机构位置/力控制方案,柔顺机构及工具主轴固连在机器人末端执行器上,由机器人根据模具表面进行粗略示教；并基于力传感器的反馈信号进行工具主轴位置和力的精确控制。 3、设计了一种柔顺执行机构,并利用外购件及自制件对其实现,再对其搭建的平台进行动作仿真。 4、分析柔顺执行机构的工作空间,利用搜索算法绘制出了工作空间的三维图。 5、阐述了基于力传感器反馈的柔顺机构运动平台和工具主轴的位姿控制方案,并用位置逆解方法求解出柔顺机构原动件——气缸的伸长量；作为应用实例,对自由曲面型面上的插补点进行位置逆解。基于柔顺机构的位置/力控制和基于力传感器的位姿控制,是本文研究的重点,也是本文与其它的3RPS并联机器人模具抛光机构的区别,是本文的创新之处。基于工业机器人的模具抛光柔顺执行机构的工作空间是轴对称的具有一定厚度的壳体,工具主轴可根据模具自由表面的变化,调整位置和姿态,达到了预期的设计目的。
[Abstract]:Die polishing is one of the most important processes in the process of die processing. The quality of die polishing is the key factor to affect the surface precision of die. Improving the polishing technology of mould is one of the most effective ways to improve the quality of mould forming products. At present, the mould polishing mostly adopts the manual processing, the polishing quality and the production efficiency are difficult to improve. In order to study the difficult and hot topic of die polishing, this paper designs a flexible execution mechanism of mould polishing based on industrial robot. The compliant mechanism can automatically change the position and posture of the polishing tool according to the change of the curvature of the free surface of the die so that the polishing tool can be machined with constant stress in order to improve the surface precision of the die and improve the production efficiency. The main contents of this paper are as follows: 1. Modeling the microcosmic contact between tools and workpieces, analyzing the relationship between the stress and the force on the contact surface, and discussing the adjustment of the position and attitude of the tool on the basis of the constant stress. 2. A position / force control scheme of tooling polishing compliant mechanism based on industrial robot is designed. The compliant mechanism and tool spindle are fixed on the robot end actuator and taught roughly by the robot according to the mold surface; The tool spindle position and force are accurately controlled based on the feedback signal of the force sensor. 3. A kind of compliant actuator is designed, and the platform is simulated by using outsourced parts and homemade parts. 4. The workspace of compliant actuator is analyzed, and the 3D map of workspace is drawn by searching algorithm. 5. The position and attitude control scheme of compliant mechanism motion platform and tool spindle based on force sensor feedback is described, and the elongation of the original moving-cylinder of compliant mechanism is solved by the position inverse solution method, which is used as an application example. The position inverse solution of interpolation points on free-form surface is carried out. Position / force control based on compliant mechanism and position and pose control based on force sensor are the focus of this paper, and the difference between this paper and other 3RPS parallel robot die polishing mechanism is the innovation of this paper. The workspace of die polishing compliant actuator based on industrial robot is axisymmetric shell with certain thickness. The tool spindle can adjust the position and attitude according to the change of mould free surface and achieve the expected design purpose.
【学位授予单位】：西华大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112

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