机器人柔性磨削机床的恒磨削力补偿机构及其动力学分析

Constant Grinding Force Compensation Mechanism for a Robot Flexible Grinding Machine and Its Dynamics Analysis

介绍了用于机器人柔性磨削系统的柔性砂带磨削机床,提出了恒磨削力补偿机构。分析了机器人柔性砂带磨削机床转位机构实现在线多工位磨削加工的创新设计和恒磨削力补偿机构的原理。建立了恒磨削力补偿机构的运动学、静力学和动力学数学模型,并对其进行了数值仿真。讨论了机器人柔性砂带磨削机床的结构参数对恒磨削力补偿机构的运动学特性和动力学特性的影响,为机器人柔性砂带磨削机床的机械设计和机器人的轨迹规划提供了理论依据。最后,对具有恒磨削力补偿机构的柔性磨床组成的机器人柔性磨削系统进行叶片加工实验,结果表明其加工精度完全满足复杂曲面的高加工精度要求。

A flexible grinding machine applied to a robot flexible grinding system and its constant grinding torce compensation mechanism is presented. We first propose an innovative design of on-line multi-positions grinding manufacture and the constant grinding force mechanism＇s theory for a robot flexible abrasive belt grinding positionrotating mechanism. Then we build the kinematic, static and dynamic model of the constant grinding force mechanism, and perform numerical stimulation of this system. Finally we study the influence of the structural parameters on the kinematic and dynamic characteristics of the robot flexible grinding machine. Vane processing experiments are done by the robot flexible grinding system with constant grinding force compensation mechanism, and the results show that its machining accuracy meets the reouirements of comnlex surface finish processing.