机器人光学自由曲面气囊抛光工具的位姿研究  

Research on Posture Algorithms of the Ballonet Polishing Tool in Robotic Optical Free-form Surface Polishing System

作　　者：曾灿灿 倪磊[1] 向北平[1] 叶科伟 艾攀华 ZENG Cancan;NI Lei;XIANG Beiping;YE Kewei;Al Panhua(Manufacturing Process Testing Technology Key Laboratory of the Ministry of Education,Southwest University of Science and Technology , Mianyang Sichuan 621000,China)

机构地区：[1]西南科技大学制造过程测试技术教育部重点实验室,四川绵阳621000

出　　处：《机械设计与研究》2019年第2期22-25,35,共5页Machine Design And Research

基　　金：四川省教育厅资助项目(17ZB0451)

摘　　要：为了更好实现光学自由曲面的有效加工,根据计算机控制光学表面成型技术原理,将工业机器人与气囊抛光技术相结合,提出一种光学自由曲面加工的新方法。本文首先建立了机器人抛光系统,分析了气囊抛光工具与工件表面的抛光位姿关系,然后根据气囊抛光工具与工件表面的数学关系,提出一种气囊抛光工具的位姿求取算法。在此基础上,以六轴工业机器人为实验平台,对确定的自由曲面进行计算验证,规划出抛光路径,推导了气囊抛光工具姿态控制算法。结果表明,该位姿求取算法满足机器人气囊抛光技术的要求,能够实现理想的抛光工具姿态控制。In order to realize the effective processing of optical free-form surface, a new method of optical free-form surface processing is proposed by combining industrial robot and ballonet polishing technology according to the principle of computer controlled optical surfacing technology. In this paper, the robot polishing system is firstly established and the polishing posture relationship between ballonet polishing tool and the workpiece surface is analyzed. Then, according to the mathematical relation between the ballonet polishing tool and the workpiece surface, an algorithm of posture of the ballonet tool is proposed. On this basis, the 6-axis industrial robot is used as the experimental platform to calculate and verify the determined free-form surface, plan the polishing path, and deduce the posture control algorithm of the ballonet polishing tool. The results show that this posture algorithm can meet the requirements of the robot ballonet polishing technology and realize the ideal posture control of the polishing tool.

关 键 词：工业机器人 光学自由曲面 气囊抛光 位姿 

分 类 号：TQ171.6[化学工程—玻璃工业]