复杂曲面机器人磨抛技术研究现状与趋势展望综述  

Summary of research status and trend prospect of robot grinding and polishing technologies for complex curved surface

作　　者：张伟[1,2] 余新阳[1,3] 张伟中 ZHANG Wei;YU Xinyang;ZHANG Weizhong(College of Automation,Zhejiang Institute of Mechanical&Electrical Engineering,Hangzhou 310053,China;Key Laboratory of Communication Network Application Technology of Zhejiang Province,Zhejiang University of Technology,Hangzhou 310014,China;Engineering College,Hangzhou City University,Hangzhou 310015,China)

机构地区：[1]浙江机电职业技术学院自动化学院,浙江杭州310053 [2]浙江工业大学浙江省通信网技术应用研究重点实验室,浙江杭州310014 [3]浙大城市学院工程学院,浙江杭州310015

出　　处：《机电工程》2024年第7期1240-1250,共11页Journal of Mechanical & Electrical Engineering

基　　金：浙江省基础公益研究计划项目(ZCLTGY24E0502);浙江省通信网技术应用研究重点实验室开放基金资助项目(A-0275-23-012);浙江省新苗人才计划大学生科技创新项目(2022R451A001);浙江省高职教育“十四五”教学改革项目(jg20230105);浙江省教育厅访问工程师校企合作项目(FG2023068);宁波市科技攻关重大专项(20211ZDYF020128);浙江机电职业技术学院课题(A-0271-20-203)。

摘　　要：在航空、能源、交通、军工等国家战略领域中,针对复杂曲面零件的自动化、高质量和高效率磨抛需求,对近年来国内外工业机器人磨抛加工关键技术及集成系统的研究和应用进展进行了综述。首先,从复杂曲面机器人磨抛机理及工艺优化、磨抛运动轨迹规划、磨削力控制等方面总结了复杂曲面机器人磨抛技术的研究成果;然后,介绍了国内外机器人磨抛集成系统应用现状;最后,分析了复杂曲面机器人磨抛技术的主要问题以及发展趋势,为该技术的发展提供了重要的指导和方向。研究结果表明:当前该技术存在的主要问题包括磨抛机理不够清晰,数学模型不够准确,复杂曲面机器人磨抛轨迹规划效率不高,磨抛力的控制仍不够精准等;另外,磨抛工艺参数优化、机器人力位混合控制、机器人高精度标定与误差补偿、基于数字孪生的机器人磨抛在线监控、机器人磨抛细分应用场景等方面的研究和实践将极大地推动机器人磨抛技术的发展和应用。Aiming at the processing demands for automation,high quality,high efficiency of complex curved surface parts in national strategic fields such as aviation,energy,transportation and military,the research and application progress of key technologies and integrated systems in industrial robot grinding and polishing process was comprehensively reviewed in recent years,both domestically and internationally.Firstly,the research achievement of complex surface robot grinding and polishing technology was summarized from multiple perspectives,such as grinding and polishing mechanism,process optimization,trajectory planning,grinding force control.Secondly,the application progress of robotic grinding and polishing integration systems at home and abroad was introduced.Finally,the main problems and development trends of complex surface robot grinding and polishing technology were analyzed and provided important guidance and direction for the development of this technology.The research results indicate that the main problems with this technology currently include unclear grinding and polishing mechanisms,inaccurate mathematical models,low efficiency in planning the grinding and polishing trajectory and insufficient precision in controlling grinding and polishing force.The future research directions are prospected from the aspects of process parameters model,hybrid control of robot force and position,high-precision calibration of robots and error compensation,integrated design and motion control of robot systems,online monitoring based on digital twins'technology,segmented application scenarios of robot grinding and polishing technology.The research and practice in the above aspects will greatly promote the development and application of robot grinding and polishing technology.

关 键 词：发展趋势 抛磨机器人 复杂曲面零件 磨抛工艺参数优化 磨抛在线监控 高精度标定与误差补偿 磨削力控制 磨抛运动轨迹规划 

分 类 号：TH162[机械工程—机械制造及自动化] TG580[金属学及工艺—金属切削加工及机床] TP242[自动化与计算机技术—检测技术与自动化装置]