基于力反馈的机器人砂带磨削虚拟示教轨迹规划方法  

Haptic feedback based virtual teaching method of toolpath planning for robot belt grinding processes

作　　者：李东阳 谢海龙 王清辉[1] 廖昭洋 LI Dongyang;XIE Hailong;WANG Qinghui;LIAO Zhaoyang(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,China;Institute of Intelligent Manufacturing,Guangdong Academy of Sciences,Guangzhou 510070,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广州510640 [2]广东省科学院智能制造研究所,广州510070

出　　处：《现代制造工程》2022年第5期30-35,共6页Modern Manufacturing Engineering

基　　金：广州市重点领域研发计划项目(202103020004)。

摘　　要：提出了一种基于力反馈的机器人砂带磨削虚拟示教轨迹规划方法,开发了一套机器人虚拟示教系统。该系统通过给予操作者连续的磨削力觉反馈和视觉仿真,使操作者沉浸在一个虚拟现实的环境中,能够像真实的手工磨削一样动态地规划工件的磨削轨迹和参数,以避免加工干涉并获得较好的加工表面质量。为了提高示教精度和效率,建立了一个虚拟夹具模型来辅助并引导操作者快速地完成复杂零件的轨迹规划任务。实验研究表明,该方法生成的轨迹能够有效避免机器人磨削复杂零件时的各类干涉,对提升机器人砂带磨削轨迹规划效率具有重要意义。A virtual teaching toolpath planning method for robot belt grinding processes was proposed based on haptic feedback.Moreover, a robot virtual teaching system was developed.With the continuous grinding force feedback and visual simulation provided in the system, it enabled operators to dynamically plan the grinding toolpath and parameters to avoid various interferences and obtain good surface quality, just like real manual grinding.Besides, to improve teaching accuracy and efficiency, a virtual fixture model was developed to assist and guide operators to quickly complete the toolpath planning of complex parts.The experimental study shows that the toolpath generated with this method can effectively avoid all kinds of interference when grinding complex parts, which is of great significance to improve the toolpath planning efficiency for robot belt grinding processes.

关 键 词：机器人 砂带磨削 轨迹规划 虚拟夹具 干涉避免 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]