气囊连续进动抛光的转换模块设计

Conversion Module Design for Gasbag Polishing with Continuous Precession Process

针对于六自由度机器人控制气囊抛光工具实现连续进动抛光的特点,设计了JBI文件的转换模块,该转换模块的核心内容主要涉及插补处理、气囊球心位置数据处理、进动功能、和转换成机器人所能识别的RPY角方式。最后转换模块成功地将CLSF文件转换成具有进动功能的,机器人所能识别的JBI文件,为进一步气囊连续进动抛光的分析提供了转换平台。

The JBI conversion module is designed for the gasbag polishing tool which is controlled by the 6-DOF robot to implement continuous precession process. There are four core contents about the conversion module, such as interpolation processing, data processing for center of gasbag position, precession function and generating the RPY which can be identified by the robot. Finally, the CLSF file is successfully converted to the JBI file which has precession function and can be identified by the robot, the conversion module provides conversion platform for the analysis of gasbag polishing with continuous precession process.