摘要
介绍用于机器人磨削加工的3自由度柔性砂带磨床的组成。采用Denavit-Hartenberg法建立该磨床的运动学模型,推导出磨削力作用点的法向挠度与各关节轴刚度和角位移的关系。通过数值仿真,分析各关节轴的刚度和角位移对磨削力作用点的法向挠度的定性和定量关系并得出一些结论。这些结论可用于3自由度柔性砂带磨床的设计和机器人磨削加工轨迹的在线修正,以提高机器人砂带修形磨削加工的精度。
A 3DOF flexible sand-belt grinding machine applied to robot grinding was introduced.Denavit-Hartenberg method was adopted to build the kinematics model.The relation between the normal deflection of grinding force and both joints＇ rigidities and angular displacements was deduced.The relation was analyzed by simulation and some conclusions were drawn out. These conclusions can be used to the design of 3DOF flexible sand-belt grinding machine and on-line modification of robot grinding trajectory to improve the precision of robot sand-belt grinding.
出处
《机床与液压》
北大核心
2010年第21期33-36,共4页
Machine Tool & Hydraulics
关键词
机器人
砂带磨床
静刚度
挠度
Robot
Sand-belt grinding machine
Static rigidity
Deflection
