粗糙表面的机器人磨削实验与分析

Experimental Investigation on Rough Surfaces Grinded by a Robotic Arm

组建了由MOTOMAN机器人、六维力 (力矩 )测量系统和振动测量组成的粗糙表面磨削实验平台 ,进行了磨削力的测量及振动的测试 ,分析了MO TOMAN磨削机器人系统的磨削力及振动响应。结果表明 ,粗糙表面磨削与普通表面磨削的显著区别是 :切向磨削力与法向磨削力不成比例 ,切向磨削力可能比法向磨削力大很多 ;影响切向磨削力大小的最主要因素是被磨削材料的表面质量 ,表面越粗糙 。

An experimental platform for grinding rough surfaces was setup. It consists of a MOTOMAN robot D force (moments) measuring system and vibration measurement. The grinding forces and vibrations during the processes for grinding rough surfaces were measured. The resemblances and differences between the rough surface grinding and normal surface grinding were analyzed based on the experimental data. The significant deference between rough surface grinding and ordinary grinding is that the tangent force in rough surface grinding can be much larger than normal force. It depends on the features of the material and the roughness of the surfaces. The rougher the grinding surface, the larger the tangent force induced.