6-DOF抛光打磨机器人的旋量运动分析  

The Kinematic Analysis for 6-DOF Polishing Robot Based on the Screw Theory

作　　者：孙洪颖[1] 李纬华[1] 王晓军[1] SUN Hong-ying LI Wei-hua WANG Xiao-jun(College of Eleetromechanical Engineering, Guangdong Polytechnic Normal University, Guangdong Guangzhou 516635, China)

机构地区：[1]广东技术师范学院机电学院,广东广州510635

出　　处：《机械设计与制造》2017年第7期256-258,共3页Machinery Design & Manufacture

基　　金：广东省科技计划项目(2014A010104015)

摘　　要：针对叶片、汽车轮毂、水龙头等异型工件的抛磨工序长期以来都依赖于工人手工打磨的问题,研发了一款6-DOF机械手,与带有力反馈机构的砂带式抛磨机、上下料滑台、操作台等构成了自动抛光打磨系统。以旋量理论和指数积为基础,建立了6-DOF抛光打磨机器人的运动学模型,并对机器人运动学的正解过程进行分析和计算验证;结合经典的Paden-Kahan子问题法对机器人运动学的逆解过程进行分析和计算验证。计算结果表明:基于旋量理论建立的运动学模型是正确的,该模型可为实际的机器人在抛光打磨过程中的轨迹规划和运动控制提供理论依据。Siuce the polishing process of special-shaped parts, such as vanes, wheel hubs and water faucets, relies on hand work for a long time, a kind of 6-DOF mechanical arm is developed. The automatic polishing system consists of the mechanical arm, belt sander with forces-feedback mechanism, load and unload slipway and operating platform, etc, The kinematic model of the 6-DOF polishing robot based on the screw theory and the exponential product is established. And the analysis and simulation research of the direct kinematics are carried out. Furthermore, the analysis and simulation research of the inverse kinematics considered the classical Paden-Kahan sub-problem are conducted. The simulation results indicate that the kinematic model based on the screw theory is correct, and the model can provide theoretical basis for trajectory planning and motion control of the polishing robot practically.

关 键 词：打磨机器人 旋量理论 指数积 运动学 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]