串并联抛光机构抛光盘位姿与抛光力控制的研究  

Research on Tool Position and Polishing Force Control of Serial Parallel Mechanism Polishing Machine

作　　者：周亮[1] 李金良[1] 杨洋[1] ZHOU Liang;LI Jin-liang;YANG Yang(Training Centre,Jilin University,Changchun 130022,China)

机构地区：[1]吉林大学工程训练中心,长春130022

出　　处：《组合机床与自动化加工技术》2018年第8期72-75,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为了解决汽车车身抛光技术对于人工抛光工艺的依赖,提出一种用于自适应调节抛光盘位姿和抛光力的串并联抛光机构。该机构能够根据未知曲面的面型特征对x-y平面的位移、偏转和俯仰模态下的角位移以及法向抛光力进行自动调整,实现未知曲面法线方向上的抛光盘位姿和抛光力的准确控制。首先,对应用于自动抛光未知曲面的串并联抛光机构的具体结构和相关参数进行介绍;然后,分别介绍了抛光盘位姿控制和曲面法线方向上抛光力控制原理,基于模态解耦法提出并联机构控制原理;随后,分别描述了抛光盘位姿、抛光盘与曲面接触点之间的相对位置以及抛光力的具体实现方法;最后,提出抛光盘位姿和抛光力自适应协同控制框图,为未知曲面自动抛光的实现提供了一种可借鉴的控制方法。In order to solve the dependence of automatic polishing technology on the polishing process of automobile body,a serial parallel mechanism of polishing was developed applying to adjust the tool position and polishing force adaptively. The mechanism can automatically adjust the angular displacement in yawing and pitching modes,polishing force in z-axis mode and the displacement of x-y plane. Firstly,the specific structure and parameters of the series parallel polishing mechanism used for automatic polishing of unknown surfaces are introduced; Then,the principle of tool position control and polishing force control in normal direction of surface are discussed,and present the control principle of parallel mechanism based on the mode decoupling method; The tool position,relative position between the polishing tool and the surface,and the method of polishing force are described respectively; Finally,an adaptive collaborative control block diagram of tool position and polishing force is put forward,which provides a reference method for the automatic polishing of unknown surfaces.

关 键 词：抛光 并联机构 自动调整 协同控制 

分 类 号：TH162[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]