整体叶轮机器人研磨柔顺控制研究  

Research on Smooth Control of Grinding of Integral Impeller by Robot

作　　者：刘速杰 李论[1,2] 赵吉宾 张洪瑶[1,2,3] LIU Su-jie;LI Lun;ZHAO Ji-bin;ZHANG Hong-yao(Shenyang Institute of Automation,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;1nstitutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Liaoning Shenyang 110016,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院沈阳自动化研究所,辽宁沈阳110016 [2]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016 [3]中国科学院大学,北京100049

出　　处：《机械设计与制造》2021年第12期253-256,261,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目—整体叶盘叶片自寻位研抛加工及表面完整性控制(51775542)。

摘　　要：针对目前整体叶轮人力手工研磨过程中研磨品质差、出产周期长、工人健康危害大等问题,开发了一套基于六自由度库卡工业机器人的自动研磨控制系统。机器人末端夹持气动磨机贴合整体叶轮表面,利用六维力传感器反馈受力情况,结合在线恒力控制算法搭建复杂曲面机器人研磨恒力控制系统。根据机器人运动学理论,对机器人研磨过程中末端加工工具重力干扰进行补偿;建立机器人力/位置混合柔顺控制策略,采用传统PID控制策略进行基础力控制,采用模糊自适应PID控制策略进行优化力控制实现机器人自动研磨。对整体叶轮进行研磨实验,结果表明模糊自适应PID控制算法可以有效的实现机器人的柔顺控制,保持研磨过程接触力在有效范围内。In view of the current problems of poor grinding quality,long production cycle,and high health hazards of workers in the manual grinding process of the integral impeller,an automatic grinding control system based on the six-degree-of-freedom KUKA industrial robot was developed. The end of the robot holds the pneumatic grinder to fit the surface of the integral impeller,and uses the six-dimensional force sensor to feedback the force,and combines the online constant force control algorithm to build a complex curved robotic grinding constant force control system. According to the theory of robot kinematics,the gravity interference of the end processing tool during the grinding process of the robot is compensated;the robot force/position hybrid compliance control strategy is established,the basic PID control strategy is used for basic force control,and the fuzzy adaptive PID control strategy is used for optimal force control.Realize robot automatic grinding. Grinding experiments on the integral impeller surfaces. From the experimental results that the control algorithm of fuzzy adaptive PID can effectively realize the robot’s compliance control and keep the contact force in the grinding process within the effective range.

关 键 词：机器人 自动化研磨 重力补偿 模糊PID控制 主动柔顺控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP249[自动化与计算机技术—检测技术与自动化装置]