非金属曲面局部研抛修复机器人阻抗控制研究  

Research on Impedance Control of Robot for Local Polishing Repair of Non-Metallic Surfaces

作　　者：史生坤 刁燕[1] 杨俊波 杨双瑜 游代华 王菲 SHI Shengkun;DIAO Yan;YANG Junbo;YANG Shuangyu;YOU Daihua;WANG Fei(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China;Sichuan Shengxinyuan Electrical Equipment Manufacturing Co.,Ltd.,Zigong 64300,China)

机构地区：[1]四川大学机械工程学院,成都610065 [2]四川盛鑫源电器设备制造有限公司,自贡643000

出　　处：《组合机床与自动化加工技术》2023年第8期57-61,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：四川大学-宜宾市校市战略合作专项资金项目(2020CDYB-17);四川省重点研发项目(2022YFG0220)。

摘　　要：恒力控制是决定非金属曲面研抛修复质量的关键环节,为提高力控的鲁棒性与精确度,生成了非金属曲面研抛区域的局部修复路径,并结合自适应阻抗控制实现了研抛力的恒定。基于数据采样插补方法,采用连续线段拟合曲面工件轮廓,获得了修复区域未知曲面的局部加工路径;为保证法向研抛力的鲁棒性,进行了末端执行器的重力补偿与姿态分析;针对研抛过程中力控对象的时变性与非线性,建立了接触空间自适应阻抗控制模型。最终以挡风玻璃为研究对象,通过数值仿真验证了路径生成方法与机器人阻抗控制模型的有效性与可行性。结果表明机器人研抛法向力波动最大幅度为11.4%,达到了较好的力控鲁棒性与精确度。Force control is the key link to determine the quality of non-metallic surface polishing and repair.To improve the robustness and accuracy of force control,a local repair path is generated for the polishing area of a non-metallic surface,and the constant polishing force is achieved by combining the adaptive impedance control.Based on the data sampling interpolation method,continuous line segments are used to fit the contour of the workpiece′s surface,and the local machining path for repairing the unknown surface is obtained;In order to ensure the robustness of the normal polishing force,the gravity compensation and attitude analysis of the end effector are carried out;Aiming at the time-varying and nonlinear characteristics of the force controlled object in the polishing process,a contact space adaptive impedance control model is established.Finally,taking the windshield as the research object,the effectiveness and feasibility of the path generation method and the robot impedance control model are verified through numerical simulation.The results show that the maximum amplitude of the normal force fluctuation of robot polishing is 11.4%,which achieves sufficient force control robustness and accuracy.

关 键 词：非金属曲面研抛 机器人 阻抗控制 路径生成 数值仿真 

分 类 号：TH162[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]