基于砂带修形磨削的磨削量影响参数数学模型研究

Study of mathematical model of material removal rate about belt conformance grinding

分析了影响磨削量的主要因素,包括砂带的磨削寿命、砂带线速度、机器人进给速度、浮动梁气压、相邻路径间距、接触轮特性、砂带摆动幅度、磨削液和磨削振动,建立了完整的磨削量与加工参数的数学模型。通过磨削实验分析了影响磨削量的主要因素,机器人砂带磨削系统对机器人进给速度变化的响应有延迟现象,修形磨削时,相邻两磨削点间的距离需要与机器人进给速度变化情况相匹配。根据实验数据对磨削实验进行了拟合建模。得到了砂带寿命数学模型、磨削量和砂带线速度关系模型、磨削量和浮动梁气压关系模型、磨削量和机器人进给速度关系模型。最后,通过力反馈控制进行了修形磨削实验和叶片磨削实验,磨削精度和力控制精度满足设计要求。

Chief factors affecting the material removal rate are discussed. It contains wear life of belt, grinding speed, feed speed, normal force, distance of adjacent paths, character of contact wheel, swing amplitude of belt,lubricating oil and vibration. A mathematical model is presented considering all the above factors. Some factors affecting the material removal rate are analyzed by experiments. The robotic system has a slow response to the changing of feed speed. The distance of adjacent points should match the change. Then, a mathematic model about wear-life is obtained by date fitting. Further more, three models between grinding speed, normal force, feeding speed and material removal rate are presented. At last, two conformance finishing and vane grinding experiments are carried out;the results show well precisions on dimension and force control.