气囊连续进动抛光运动模型的研究  

Research on motion model for gasbag polishing with continuous precession process

作　　者：计时鸣[1] 陈伟强[1] 金明生[1] 张利[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室,浙江杭州310032

出　　处：《机电工程》2012年第4期377-380,416,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50575208);浙江省自然科学基金资助项目(M503099);浙江省科技厅重点科研工业资助项目(2006C21041)

摘　　要：为了控制六自由度机器人实现气囊连续进动抛光功能,建立了相应的运动数学模型。首先基于气囊连续进动抛光原理,利用齐次坐标变换矩阵,建立了气囊定点进动抛光的数学模型;在此基础上,根据气囊连续进动要求,应用坐标系转换原理,推导了气囊连续进动抛光的数学模型;通过Matlab仿真绘制了气囊连续进动抛光的运动空间,并在六自由度机器人辅助气囊抛光系统中进行了直线连续进动的实验验证,实验验证结果和仿真结果完全吻合。研究结果表明,该气囊连续进动抛光数学模型是可行的。In order to control the 6-DOF robot to implement the function of gasbag polishing with continuous precession process,the mathematical model of such motion was established.Based on the theory of gasbag polishing with continuous precession process,the mathematical model of gasbag polishing with fixed-point precession was firstly gained by using homogeneous coordinates transformation matrices.According to the requirements of continuous precession process,its mathematical model was developed with the conversion of two coordinate systems.In addition,the motion space of gasbag polishing with continuous precession process was described by simulation with Matlab,and the experiment of linear continuous precession process was made on a 6-DOF robot-assisted gasbag polishing system,whose result tallied well with the simulation.The research results show that the mathematical model of gasbag polishing with continuous precession process is feasible.

关 键 词：定点进动 连续进动 坐标变换 运动空间 

分 类 号：TH113.2[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]