基于工业机器人的复杂曲面磨抛关键技术综述  

Review on the Key Technologies of Complex Surfaces Polishing Based on Robots

作　　者：邓建新[1,2] 袁邦颐 黄秋林 丁度坤 辛曼玉[3,4] 刘光明[1,2] DENG Jianxin;YUAN Bangyi;HUANG Qiulin;DING Dukun;XIN Manyu;LIU Guangming(Guangxi Key Lab of Manufacturing System&Advanced Manufacturing Technology,Guangxi University,Nanning 530004;School of Mechanical Engineering,Guangxi University,Nanning 530004;Dongguan Polytechnic,Dongguan 523808;Guangdong Huixing Hitech Co.Ltd.,Dongguan 523819)

机构地区：[1]广西大学广西制造系统与先进制造技术重点实验室,南宁530004 [2]广西大学机械工程学院,南宁530004 [3]东莞职业技术学院,东莞523808 [4]广东汇兴精工智造股份有限公司,东莞523819

出　　处：《机械工程学报》2024年第7期1-21,共21页Journal of Mechanical Engineering

基　　金：东莞市科技特派员项目“智能柔性产线的研究与开发”(20211800500042);广西制造系统与先进制造技术重点实验室基金(22-035-4S018);东莞职业技术学院智能终端及智能制造专项项目(ZXA003)资助项目。

摘　　要：磨抛加工是提升零件表面质量和精度的重要方法之一。基于工业机器人系统的复杂曲面磨抛技术正逐渐成熟,凭借灵活、占地小、精度高、成本低等优势正逐渐取代人工磨抛和数控机床磨抛成为主流。通过分析基于工业机器人的磨抛加工原理,引出影响机器人磨抛加工精度效果的关键问题:磨抛加工轨迹的规划精度和力控制精度,前者关注加工效率和精度之间的平衡,后者则更侧重于加工的精度和一致性;从这两个方面出发,总结机器人磨抛系统加工轨迹规划方法和柔顺力控制策略的研究目的、特点和成果进展。机器人磨抛系统加工轨迹规划以应用与改进传统数控机床磨抛中常用的加工路径规划方法为主,出现了少量根据机器人特性提出的加工路径规划方法;磨抛柔顺力控制技术出现了被动柔顺、主动(阻抗控制、力/位混合控制)及智能控制等策略,对比分析了各方法原理、研究应用情况和优劣;并提出了未来可能的发展方向。为该领域的研究者提供指引。The polishing process is one of the important methods to enhance the surface quality of parts and precision.Complex curved surface polishing technology based on the industrial robot system,with the advantages of flexibility,small land occupation,high precision and low cost,is gradually mature and replacing the manual polishing and the grinding based on CNC machine tools.By analyzing the principle of grinding and polishing based on industrial robots,the key problems affecting the accuracy of robot grinding and polishing are introduced:the planning accuracy of the grinding and polishing process path and the force control accuracy.The former focuses on the balance between processing efficiency and accuracy,while the latter focuses on the accuracy and consistency of processing.From these two aspects,the research purposes,characteristics and achievements of machining path planning methods and compliance force control strategies for robotic grinding and polishing systems are summarized.The machining path planning of robot grinding and polishing system is mainly based on the application and improvement of the commonly used machining path planning methods in the CNC machine tool grinding and polishing,and there are a few machining path planning methods proposed according to the characteristics of the robot.The strategies of passive compliance,active(impedance control,force/position hybrid control)and intelligent control have proposed to address the force control challenges of grinding and polishing based on robots;their principle,research and application are compared and analyzed.After that,the possible future development directions are suggested.It provides a direction guidance for researchers in this field.

关 键 词：磨抛加工 磨抛机器人 加工路径规划 柔顺力控制 主被动柔顺 智能控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]