模具抛光机器人柔性终端执行器设计与分析  

Design and Analysis of Flexible End-Effector for Mould Polishing Robot

作　　者：唐杰[1] 王涛[1] 常青[2] 张海涛[2] 

机构地区：[1]中国民航大学航空自动化学院,天津300300 [2]天津汽车模具股份有限公司,天津300308

出　　处：《机械设计与制造》2016年第2期263-266,共4页Machinery Design & Manufacture

基　　金：天津市科技支撑计划重点资助项目(14ZCZDGX00014);天津市应用基础与前沿技术研究计划(15JCQNJC04700)

摘　　要：抛光是提升汽车模具表面质量的一道重要工序,目前主要采用传统的方法手工完成,生产效力低,且容易出现人为误差。因此基于机器人的自动化抛光技术备受广泛关注,而柔性终端执行器是抛光机器人系统的关键部件,直接影响抛光效果。根据汽车模具的抛光特征,设计了基于弹簧的柔性终端执行器,建立了机器人柔性抛光系统的虚拟样机,并利用adams对其进行了仿真分析。结果表明:该机器人柔性抛光系统满足汽车模具表面抛光要求,能自适应跟踪打磨轨迹,有效补偿油石的损耗量,避免了"过抛光"和"少抛光"的问题。Polishing is an important process to enhance the quality of automotive mold surface,mainly using the traditional manual method to complete,being prone to artificial error and low the production efficiency. So polishing robot-based automation technology got a lot of attention,and flexible terminal actuator is a key component of the robotics system,directly influencing the polishing effect. Based on the polishing characteristics of automobile mould,itdesigned flexible spring-based terminal actuator,established the virtual prototype of robot flexible polishing system,using Adams for simulation analysis.The results shows that： the robot flexible polishing systems can meet the condition of automotive mold surface,by adaptively tracking the change of curvature of the mold surface,effectively making up the loss of Whetstone and preventing the phenomenon of＂over polishing ＂ and ＂ less polished＂.

关 键 词：抛磨机器人 模具 柔性终端执行器 虚拟样机 ADAMS仿真 

分 类 号：TH16[机械工程—机械制造及自动化]