面向光学元件磨削加工的机器人力控系统研究  

Research on robot force control system for optical component grinding processing

作　　者：林子琦 王振忠 陈熠 徐晓雨 LIN Ziqi;WANG Zhenzhong;CHEN Yi;XU Xiaoyu(School of Aeronautics and Astronautics,Xiamen University,Xiamen 361005,CHN)

机构地区：[1]厦门大学航空航天学院,福建厦门361005

出　　处：《制造技术与机床》2025年第4期5-13,共9页Manufacturing Technology & Machine Tool

摘　　要：随着自由曲面光学元件加工需求日益增长,能短周期高柔性智能化成线的超精密磨削、抛光设备及工艺成为光学元件批量生产的关键。传统超精密磨削机床设计周期长、制造及投入成本高,难以满足中小批量定制的多样化市场应用。基于大工作空间、低成本且智能化、柔性化的六轴工业机器人,提出了机器人主动柔顺力控磨削方法,探究机器人力控磨削作业的运动控制,研究力控法兰特性从而掌握力控控制策略;基于力控磨削工艺实验求解建立稳定磨削力模型,实现通过控制力控期望力来实现机器人恒定磨削深度,粗磨阶段有效提升工件面形质量,相较于机器人无力控磨削,机器人力控磨削峰谷值(peak-to-valley,PV)提升了57.8%,均方根值(root mean square,RMS)提升了63.5%。As the demand for freeform optical component processing continues to grow,ultra-precision grinding and polishing equipment and processes that offer short cycle times,high flexibility,and intelligence are becoming crucial for the mass production of optical components.Traditional ultra-precision grinding machines have long design cycles,high manufacturing and investment costs,and struggle to meet the diverse needs of small and medium-sized custom applications.Based on a six-axis industrial robot with large working space,low cost,intelligence and flexibility,a robot active flexible force control grinding method was proposed to explore the motion control of machine manual control grinding operations,and study the characteristics of force control flanges to master the force control control strategy.The stable grinding force model was established based on the solution of the force controlled grinding process experiment to realize the constant grinding amount of the robot by controlling the expected force,and the surface shape quality of the workpiece was effectively improved in the rough grinding stage.Compared with the robot's weak control grinding,the peak-to-valley(PV)of the machine manual controlled grinding increased by 57.8%,root mean square(RMS)increased by 63.5%.

关 键 词：工业机器人 力控磨削 磨削加工 机器人磨削 光学加工 

分 类 号：TH161[机械工程—机械制造及自动化]