机器人打磨抛光系统设计与研究

发布时间：2018-10-31 19:07

【摘要】：虽然工业机器人打磨技术在当前发展还处于初级阶段,还不可能在短期内完全的取代人工打磨,但是作为一种新的技术,其发展前景非常的广阔。因此,本研究主要是针对当前比较先进的机器人打磨抛光系统进行研究,并希望通过本文的研究设计出一种最佳的机器人打磨抛光系统。简要回顾了机器人路径规划的概念、路径规划的类型及方法;重点阐述了基于多项式的操作臂路径规划,简要回顾了夹具系统的发展历史及其分类方法,结合课题组的座椅底座机器人打磨抛光系统项目,重点阐述夹具方案设计,包括打磨抛光工件的基本情况、夹具设计路线以及夹具的功能分析;阐述了夹具定位部件、夹紧单元结构及夹具体的详细设计过程,简要阐述了砂带模型的基本原理,并建立了机器人打磨抛光系统坐标系,包括关节坐标系、直角坐标系、工具坐标系以及用户坐标系;并设计了机器人打磨抛光系统,构建了机电平台,包括工业机器人、控制柜以及力自适应砂带抛光机。简要阐述了实验基础,重点阐述了砂带打磨抛光实验的过程,包括抛光系统设置和轨迹规划与仿真,并对实验结果进行了分析,根据对零件表面粗糙度分布特征的分析,可以得出本文研究设计的机器人打磨抛光系统,并且综合考虑了系统的抛光效率和质量,最终佐证了本系统的可行性和设计的有效性。
[Abstract]:Although the industrial robot grinding technology is still in the initial stage of development, it is not possible to replace manual grinding completely in the short term, but as a new technology, its development prospects are very broad. Therefore, this research is mainly aimed at the advanced robot grinding and polishing system, and hopes to design the best robot polishing system through the research in this paper. The concept, types and methods of robot path planning are briefly reviewed. In this paper, the path planning of manipulators based on polynomial is expounded, and the development history and classification method of fixture system are briefly reviewed. In combination with the project of robot polishing and polishing system for seat base, the design of fixture scheme is emphasized. Including the basic situation of polishing workpiece, fixture design route and fixture function analysis; In this paper, the positioning parts, the structure of clamping unit and the detail design process of clamping unit are described. The basic principle of sand belt model is briefly expounded, and the coordinate system of robot grinding and polishing system, including joint coordinate system and right angle coordinate system, is established. Tool coordinate system and user coordinate system; The robot grinding and polishing system is designed, and the electromechanical platform is constructed, including industrial robot, control cabinet and force adaptive abrasive belt polishing machine. In this paper, the experimental basis is briefly described, and the process of abrasive belt polishing experiment is emphasized, including the setting of polishing system, trajectory planning and simulation. The experimental results are analyzed, and the distribution characteristics of surface roughness of the parts are analyzed. It is concluded that the robot polishing and polishing system is designed in this paper, and the polishing efficiency and quality of the system are considered synthetically. Finally, the feasibility of the system and the effectiveness of the design are proved.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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