基于球面线性插值的机器人磨削工具姿态规划  

Tool Posture Planning for Robotic Grinding Based on Spherical Linear Interpolation

作　　者：毛文志 潘通 李程鹏 徐金亭[1] MAO Wenzhi;PAN Tong;LI Chengpeng;XU Jinting(School of Automotive Engineering,Dalian University of Technology,Dalian Liaoning 116024,China;SIASUN Robot&Automation Co.,Ltd.,Shenyang Liaoning 110168,China)

机构地区：[1]大连理工大学汽车工程学院,辽宁大连116024 [2]沈阳新松机器人自动化股份有限公司,辽宁沈阳110168

出　　处：《机床与液压》2023年第3期6-9,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(51975097);国家重点研发计划项目(2020YFA0713702);中央高校基本科研业务费项目(DUT21ZD206);山东省重大科技创新工程项目(2019JZZY010128)。

摘　　要：在机器人磨削去除汽车轮毂翻边及毛刺中,为解决传统方法所规划的工具姿态灵活度不够、平稳性差等问题,提出一种基于球面线性插值的机器人磨削工具姿态规划方法。将离散磨削路径拟合为B样条曲线,通过对样条路径曲率信息的提取,实现轮毂磨削关键区域的识别;在关键区域的关键点处设定磨削工具姿态,并利用关键工具姿态间的球面线性插值,生成沿路径光顺变化的工具姿态;通过Z向浮动对磨削中的工具位置进行微调,以提高磨削的均匀性、减少工具的磨损。结果表明:所提方法可使机器人磨削工具姿态角度波动比优化前降低22.28%,角速度波动降低40.43%,从而能够有效提升磨削的平稳性。In removing the curling and burrs of wheel hub blank using robotic grinding,a SLERP(spherical linear interpolation)based method was proposed to overcome the problems of insufficient flexibility and poor stability of traditional tool posture planning methods.The discrete grinding path was fitted to a B-spline curve,and the key areas were identified according to curvature distribution of the spline path.At the key points in key areas,tool postures were specified in advance.Subsequently,the SLERP of adjacent key tool postures was used to plan tool postures with smooth changes at other path points.The tool positions were slightly adjusted by Z-floating operation to improve the grinding uniformity and reduce the tool wear.The results show that the proposed method reduces a tool angle fluctuation of 22.28%and an angular velocity fluctuation of 40.43%compared with that before optimization,effectively improving the grinding stability.

关 键 词：机器人磨削 工具姿态规划 球面线性插值 汽车轮毂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]