机器人变抛磨头抛磨系统搭建及其实验研究  

Construction and Experimental Study of a Robot Variable Polishing Head Polishing System

作　　者：郝晓伟 刘佳 杨胜强 屈展 HAO Xiao-wei;LIU Jia;YANG Sheng-qiang;QU Zhan(School of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Shanxi Taiyuan 030024,China;Shanxi Provincial Key Laboratory of Precision Machining,Shanxi Taiyuan 030024,China)

机构地区：[1]太原理工大学机械与运载工程学院,山西太原030024 [2]精密加工山西省重点实验室,山西太原030024

出　　处：《机械设计与制造》2022年第6期83-87,91,共6页Machinery Design & Manufacture

基　　金：山西省科研设备购置专项—西门子机器人数字化工作站及生产线虚拟调试平台(2018-05)。

摘　　要：为了实现复杂曲面类零件一次性、完整性抛磨加工的理念,设计搭建了基于工业机器人的变抛磨头抛磨系统,其中包括抛磨平台的结构设计、静力学分析、模态分析、控制方案设计、测力模块的设计以及传感器与上位机之间通讯方案的设计;然后基于阻抗控制算法构建了工业机器人与抛磨平台间的柔顺联动控制策略。经实验验证,抛磨平台具有较高的定位精度和重复定位精度,且抛磨平台与工业机器人配合加工时无碰撞与干涉发生,选用航空发动机叶片进行抛磨加工实验后未发现加工盲区的存在,为复杂曲面类零件一次性、完整性抛磨加工奠定了基础。In order to realize the concept of one-time,complete polishing of complex curved surface parts,an industrial robotbased variable polishing head polishing system was designed and built,including the structural design,static analysis,modal analysis,and control of the polishing platform.The design of the scheme,the design of the force measurement module,and the design of the communication scheme between the sensor and the host computer;and then based on the impedance control algorithm,a flexible linkage control strategy between the industrial robot and the polishing platform is constructed.It is verified by experiments that the polishing platform has high positioning accuracy and repeated positioning accuracy,and there is no collision and interference when the polishing platform and the industrial robot cooperate with each other.After the aero-engine blade is selected for the polishing test,no blind area is found,Laid the foundation for one-time,complete polishing of complex curved surface parts.

关 键 词：工业机器人 复杂曲面类零件 抛磨加工 变抛磨头抛磨平台 

分 类 号：TH16[机械工程—机械制造及自动化] TH16