基于轨迹控制的机器人抛光工艺

Path control-based robotic polishing technology

针对普通商用工业机器人的封闭控制结构难以实现在线控制的特点,采用软质抛光工具来降低快速制模工艺中机器人抛光的轨迹误差.为了获得稳定的抛光压力,在机器人抛光轨迹规划的基础上,通过轨迹调整,对软质抛光工具的弹性变形和抛光过程磨损进行有效补偿.实验结果表明:当轴向预压量为1.0 mm时,每隔175 mm的抛光间距进行轴向补偿0.1 mm,即可获得稳定的抛光压力和均匀的抛光过程.

Owing to its closed control structure, normal commercial industrial robot is controlled online difficultly. The soft polishing tool and free abrasive was applied to depress the robotic polishing path error of the rapid metal tooling. In order to obtain the steady robotic polishing pressure, the robotic polishing path was adjusted by the path planning, which can make effective compensation for the elastic deformation and process abrasion of the soft polishing tool. The experiment results appear that the steady polishing pressure and the even robotic polishing process can be obtained when the pre-com pressed value is 1.0 mm and the polishing path is compensated with 0.1 mm along the tool axis direction every polishing distance 175 mm.