一种非圆零件去毛刺机器人及其控制系统  

On the Control System of the Deburring Robot for Non-circular Machine Part

作　　者：杨丽华[1] 施光林[1] 郭秦阳[1] 

机构地区：[1]上海交通大学机械与动力工程学院,上海200240

出　　处：《机电一体化》2016年第8期38-43,共6页Mechatronics

摘　　要：基于摆线液压马达壳体零件为非圆的结构特点,设计了一款实用型的非圆零件去毛刺机器人。该机器人在轨迹跟踪的基础上采用力反馈,结合常规PID控制轴向切削力以实现摆线液压马达主法兰面和油口面轮廓均匀去毛刺。基于MATLAB/Simulink软件和AMESim软件,重点研究了该机器人的关键部件——补偿轴。分析了倒角去毛刺过程中补偿轴所受的切削力,基于PID控制策略并运用力闭环来实现均匀切削。仿真和实验结果表明,该非圆零件去毛刺机器人能够实现摆线液压马达壳体件的连续去毛刺加工,有效提高了去毛刺的加工效率,并通过其力补偿控制策略,可以有效克服摆线液压马达壳体的毛坯误差、轨迹跟踪误差和系统装配误差对定量切削控制带来的不利影响。Based on the non-circular structure characteristic of the cycloid hydraulic motor, a practical deburring robot for the non-circular parts is designed. With the x -y table conducting the trajectory tracking, the robot uses the force feedback and applies the normal PID method to control the axial cutting force so as to realize the uniformly de- burring procession. Based on the combination of MATLAB ! Simulink and AMESim, the key component part of the deburring robot, which means the compensation axis, is mainly studied. By analyzing the axial cutting force along the compensation axis and applying the force compensation control strategy, the robot is aimed at uniform cutting. The simulation and the experimental results show that the deburring robot for non-circular machine parts can implement the continuously deburring procession with high efficiency. And the performance of the force compensation control strategy can overcome the adverse effects of the manufacturing error, trajectory error and the system assembling error of the deburring robot in a degree.

关 键 词：机器人 去毛刺 非圆零件 轨迹跟踪 力反馈 均匀切削 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]