六自由度机器人叶片剖光研究  

Research on Blade Polishing by using 6-DOF Robot

作　　者：王刚 赵尚福 WANG Gang;ZHAO Shangfu(Shenyang Machine Tool(group)Design and Research Institute Co.,Ltd,Shenyang 110142,China)

机构地区：[1]沈阳机床(集团)设计研究院有限公司

出　　处：《机械工程师》2020年第2期145-147,共3页Mechanical Engineer

基　　金：沈阳市科技计划项目“自动化叶片砂带抛光技术研究”(18202013)

摘　　要：为了实现叶片抛光的自动化,提出了应用六自由度机器人进行叶片抛光的方法。应用D-H模型进行了六自由度机器人的运动学分析,推导了正向运动学和逆向运动学公式,还分析了六自由度机器人及抛光叶片用的砂带的进给运动。建立了六自由度机器人和抛光叶片的砂带的叶片抛光系统,设计了叶片的夹具及气动控制系统。文中提出的六自由度机器人和砂带组成的叶片抛光系统已经实现工业化生产,以实际应用证明了该方法具有可靠性。In order to realize the automation of blade polishing, this paper presents a method of blade polishing using a 6-DOF robot. This paper uses the D-H model to perform the kinematics analysis of the 6-DOF robot, derives the forward kinematics and inverse kinematics formulas, and analyzes the feed motion of the 6-DOF robot and the abrasive belt for polishing the blades. A blade polishing system for 6-DOF robots and abrasive belts for polishing blades is established, and a blade fixture and pneumatic control system are designed. The blade polishing system composed of 6-DOF robot and sand belt proposed in this paper has realized industrial production. The practical application proves that the method proposed in this paper is reliable.

关 键 词：六自由度机械手 运动学分析 汽轮机叶片 抛光 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]