轮毂曲面机器人力控磨抛路径规划方法  

Path Planning for Force-controlled Robotic Grinding of Hub Surfaces

作　　者：王逸潇 俞桂英 丁烨 郑建明 WANG Yixiao;YU Guiying;DING Ye;ZHENG Jianming(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Zhejiang Wanfeng Technology Development Co.,Ltd.,Shengzhou 312400,China)

机构地区：[1]上海交通大学机械与动力工程学院,上海200240 [2]浙江万丰科技开发股份有限公司,浙江嵊州312400

出　　处：《机械与电子》2021年第4期70-75,共6页Machinery & Electronics

基　　金：国家重点研发计划资助项目(2018YFB1308900)。

摘　　要：针对复杂轮毂曲面的机器人力控磨抛问题,根据预设的平行扫掠线模式进行曲面分割。在各子曲面,根据接触力及材料去除数值模型,构建以磨抛总量最大及残余磨抛量最小为目标的约束非线性优化问题,进而规划各路径离散点的驻留时间及相邻平行路径间距。通过解决非线性整数规划问题,对磨抛工具在子曲面间的抬降进行规划。实验结果表明,该算法能够规划出全覆盖磨抛路径,磨抛量达到预期,残余磨抛量较为平均,磨抛效率较高。Aiming at force-controlled grinding problems of automobile hubs,we segment the complex surface based on predetermined sweeping line mode.On each subsurface,we establish the constrained nonlinear optimization problem with goals of maximizing the grinding volume and minimizing the residual grinding volume according to the numerical model of contact force and material removal volume,and then plan the residence time of discrete points in each path and the distance between two adjacent parallel paths.The lifting and lowering of the grinding tool between the subsurfaces are optimized by solving the nonlinear integer optimization problem.Experiments show that proposed algorithm can generate a full coverage grinding path.At the same time,the grinding amount can reach our expectation,the residual grinding amount is relatively average,and the grinding efficiency is high.

关 键 词：轮毂磨抛 曲面分割 接触力模型 驻留时间规划 路径间距规划 间隔移动规划 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TG580.692[自动化与计算机技术—控制科学与工程]