一维力控制机器人砂带磨削机设计  

Design of unidimensional force controlled robotic abrasive belt grinder

作　　者：王留呆[1] 贠超[1] 彭伟[1] 李成群[1] 孙云权 

机构地区：[1]北京航空航天大学机器人研究所,北京100083 [2]廊坊智通机器人系统有限公司,河北廊坊065001

出　　处：《机械设计》2008年第6期29-32,共4页Journal of Machine Design

摘　　要：设计了一种新型机器人砂带磨削机。使用导轨滑块机构解耦出磨削压力,借助气动比例减压阀,以及力传感器实现磨削力的控制,用变频器调节磨削速度,结合机器人扫描和工件进给速度的控制,能够很好地完成高精度磨削加工,提高了产品的加工精度和生产效率。A kind of new typed robotic abrasive belt grinder was designed. Using the guide rail slider mechanism to decouple the grinding pressure, with the aid of pneumatic proportional pressurereducing valve and force sensor to achieve the control of grinding force. Using the transducer to regulate the grinding speed, by combining with robotic scanning and the control of feeding speed of workpiece, the task of high precision grinding could be nicely accomplished, thus enhanced the machining accuracy and manufacture efficiency of the product.

关 键 词：力控制 砂带磨削机 高精度磨削 

分 类 号：TG596[金属学及工艺—金属切削加工及机床] TP2[自动化与计算机技术—检测技术与自动化装置]