摘要
为了提高加工效率,提出了一种安装盘状工具在大型曲面上进行自适应研抛加工的机器人,可以在行进中进行作业。在分析了大型曲面的特征,针对盘状工具多点切触加工的特点,确定了机器人的技术构成。通过Pro/Engineer软件建立了研抛机器人的虚拟模型,研究了自适应研抛机器人和加工系统的运动学并建立了数学模型,应用Adams和Matlab软件对研抛机器人的自适应性和整机运动性能进行了联合仿真。仿真结果表明研抛机器人及其工具系统具有良好的动态性能,为研抛机器人系统的设计、制造和控制提供参考依据。
Adaptive polishing robot with discoid tool for large freeform surface is proposed in order to improve the efficiency,who could work under way.By analyzing features of large free-form surface and multi-point contact of discoid tool,technical composition of the robot is determined.A virtual model for the robot is established by Pro/Engineer.Meantime,the adaptive polishing robot and its processing systems is studied and a mathematics model is established,and kinematics simulation was executed based on Adams with Matlab as well,which results prove that the robot and its tool polishing system is good in dynamic performance,and provides reference for the design,manufacture and control of the polishing robot system.
出处
《机械设计与制造》
北大核心
2011年第5期152-154,共3页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(50705044)
