一种基于恒力打磨的机器人自动加工方法  

A robot automatic processing method based on constant force grinding

作　　者：吕斌[1] 卢琦[2] 袁艳丽[2] LV Bin LU Qi YUAN Yanli(Innovation Education Center for College Students, Dalian Jiaotong University, Liaoning Dalian, 116028, China College of Mechanical Engineering, Dalian Jiaotong University, Liaoning Dalian, 116028, China)

机构地区：[1]大连交通大学大学生素质教育中心,辽宁大连116028 [2]大连交通大学机械工程学院,辽宁大连116028

出　　处：《机械设计与制造工程》2017年第3期65-69,共5页Machine Design and Manufacturing Engineering

基　　金：国家科技支撑计划项目(2015BAF20B02)

摘　　要：针对薄壁件的自动打磨问题,提出了一种简单有效的恒力打磨加工方法。从硬件组成、软件控制、关键技术研究3个方面出发,系统地介绍了薄壁件打磨加工系统:通过在KUKA工业机器人末端的气动柔顺力控制功能使得打磨工具始终压紧被加工表面,且压力大小保持恒定,根据规划路径调整机器人的末端位姿,同时以真空抽气机抽取打磨过程生成的杂质到清洁罐,进一步保证打磨的质量。最后,对实验样件进行打磨并采用ZYGO表面轮廓仪分析,证明了该方法的有效性。It proposes a simple and effective constant force polishing processing method for the automatic grinding problem of thin-walled parts. It designs the system of thin-walled workpiece grinding from such three aspects as hardware composition,software control and key technologies. The pneumatic force control function at the end of the KUKA industrial robot keeps the grinding tool pressed against the surface to be machined,and the pressure is kept constant. The end pose of the robot is adjusted according to the planned path,and the polished impurity is extracted by the vacuum pump for ensuring the quality of polish. Finally,it takes an experiment to verify the method.

关 键 词：机器人 恒力打磨 力控制 薄壁件 加工轨迹 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]