气囊抛光工件的几何信息重构研究  

Reconstruction of geometry information to gasbag polishing workpiece

作　　者：阮航[1] 

机构地区：[1]浙江工业大学特种设备制造与先进加工技术教育部重点实验室,浙江杭州310014

出　　处：《机电工程》2014年第5期591-594,654,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50575285)

摘　　要：针对传统的气囊抛光操作都需要工件CAD信息所引起的建模效率低下、操作复杂等问题,将一种能够在线自动重构工件几何信息的技术应用到机械臂气囊抛光系统中。详细介绍了抛光工件未知曲面在线重构的操作方法和基础理论原理,从而获取未知气囊抛光工件曲面的法矢量和切矢量,提出了一种基于位置内环补偿的力外环主动柔顺控制方案,利用抛光机械臂末端的位置补偿来实现气囊抛光所引起的接触力控制,并建立了气囊抛光接触力控制模型;另外,还搭建了一个能够对未知工件进行建模的实验平台,对理论原理进行了模拟性实验。研究结果表明,该策略应用于跟踪和识别一个未知的抛光工件曲面是可行、有效的。In order to solve the problems of reconstruct an unknown workpiece operations are always required by CAD information of workpiece which cause efficiency low,operation complex and so on,the one which design and implementation of gasbag polishing operations which can automatically online reconstruct the geometry information of workpiece was investigated.The operation method of online reconstruction of a workpiece surface and the basic theory were introduced,in order to obtain the normal vector of workpiece surface.The outer ring of active compliance control based on the inner position loop was proposed,the position compensation at the end of the polishing manipulator was used to achieve the gasbag polishing contact force control.The contact force model of gasbag polishing was established.The trajectory planning algorithm with time-varying constraints was established.An experimental platform which is capable to reconstruct an unknown workpiece was built,the theory was simulated.The results indicate that this strategy is feasible and effective.

关 键 词：气囊抛光 在线重构 主动柔顺控制 位置补偿 

分 类 号：TH692.9[机械工程—机械制造及自动化] TP181[自动化与计算机技术—控制理论与控制工程]