摘要
根据复杂曲面磨削任务对机器人的实际要求,提出了一种PPPRRR砂带磨削机器人构型,利用D-H法建立了机器人的运动模型及正反解方程。建立了基于该构型机器人砂带磨削系统的曲面磨削数学模型,在此基础上以高尔夫球头为典型工件代表,分析了利用夹具改变零件的装卡姿态及改变磨削机与机器人相对位置对工件可磨削性的影响,利用蒙特卡洛方法优化了磨削机与机器人的相对位置及零件装卡姿态,提高了磨削机器人系统的加工性能。
A PPPRRR grinding robot type is proposed for the belt grinding process with complex surfaces. The D-H kinematic model is used to obtain the solutions of the kinematics and inverse kinematics. The mathematical model for the robotic grinding paths is set up to finish a golf clue. The factors including the pose of the work piece respect to the end and the position of contact wheel respect to the robot is analyzed to influence the grinding ability. By the Monte Carlo method to optimize the pose and position factors above, the grinding ability is increased.
出处
《机械工程师》
2011年第8期1-5,共5页
Mechanical Engineer
关键词
机器人磨削
运动学
蒙特卡洛方法
夹具优化
最优位置
belt grinding robot
kinenmtics
Monte Carlo method
fixture optimization
position optimization
