4+2自由度叶片抛磨专用机器人轨迹规划方法研究  

Research on trajectory planning method of 4+2 degree-of-freedom robot dedicated to blade grinding

作　　者：任利娟[1] 陈恪 闫伟健 李堃 杨志坚 张广鹏[1] REN Lijuan;CHEN Ke;YAN Weijian;LI Kun;YANG Zhijian;ZHANG Guangpeng(College of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Xi’an 710048,CHN;Qinchuan Machine Tool Group Co.,Ltd.,Baoji 721000,CHN)

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048 [2]秦川机床工具集团有限公司,陕西宝鸡721000

出　　处：《制造技术与机床》2024年第3期16-21,共6页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金“视听信息融合的砂带抛磨材料去除率非接触感知测量新方法”(52275511);陕西省自然科学基础研究计划“数据驱动的复杂曲面砂带精密磨削型面精度智能控制方法研究”(2023-JC-QN-0428)。

摘　　要：砂带抛磨作为复杂曲面叶片精密加工的最后一道工序,其加工质量直接影响叶片的服役性能和寿命。传统6自由度机器人多关节串联具有明显的弱刚性,在末端夹持大型叶片时抗变形能力欠佳。为此,文章自主设计研发了4+2自由度叶片抛磨专用机器人系统,并开展复杂曲面叶片抛磨轨迹规划方法研究。首先基于D-H法建立该机器人运动学模型,进行机器人运动学的正、逆解的求解;其次给出了综合考虑抛磨工具与工件曲率的干涉、刀路轨迹行距和轨迹点密度对残留高度的影响规律的轨迹规划方法,建立了2个单元的协同运动模型保证叶片的加工实现;最后通过叶片抛磨轨迹数控程序验证了所获得的抛磨轨迹的正确性。As the last process of precision machining of complex curved blades,the processing quality of abrasive belt grinding directly affects the service performance and life of the blades.The traditional six-degreeof-freedom robot with multi-joint tandem connection has obvious weak rigidity,and its deformation resistance is not good when clamping large blades at the end.For this reason,a 4+2 degree of freedom blade grinding robot system is designed and developed.Research of complex surface blade grinding trajectory planning method is carried out with the self-developed grinding robot system.First of all,the kinematics model of the robot is established based on the D-H method.The forward and inverse solutions of robot kinematics are given.A trajectory planning method is proposed that comprehensively considers the interference between polishing tools and workpiece curvature,the influence of tool path spacing and trajectory point density on residual height.A collaborative motion model of two units is established to ensure the machining implementation of the blades.Finally,the correctness of the obtained grinding trajectory is verified through numerical control program simulation of the blade polishing trajectory.

关 键 词：机器人 叶片抛磨 轨迹规划 协同运动模型 

分 类 号：TH16[机械工程—机械制造及自动化]