一种自主研磨作业机器人系统的开发

Development of a robot system for autonomous grinding

为实现用小型装备对大型自由曲面进行精整加工的目标,研制一种自主研磨作业机器人,给出机器人结构与工作原理及曲面模型重构、控制系统的设计方法和实例.通过对5-TTRRT机器人研磨加工实验对相关的结论加以验证,得出研磨工具头的姿态参数,验证了机器人的有效性和可行性,为自主研磨作业机器人的设计提供了一种方案.

To achieve the polishing aim which a large freeform surface is grinded with a micro device, a robot system for autono- mous grinding is presented. The design method and example are presented to design the structure, control system and software of the robot. The hardware experiment system of 5-TFRRT is set up to do a series of experiments on polishing operation, by which, better position, and orientation parameters are acquired. Basic experiments are performed to testify the feasibility and efficiency of the robot. The investigation can give an alternative scheme for designing autonomous grinding robot.