复杂曲面机器人自动化研抛加工试验

Experiment of robot automatic polishing for curved surfaces

为提高复杂曲面工件光整加工的效率和表面质量,搭建了以KUKA 30-3机器人为基体的自动化研抛平台并对复杂曲面工件进行了研抛加工试验。基于机器人工具坐标测量原理,针对本试验工件进行刀具坐标测量,利用CAD/CAM进行轨迹规划,采用一定倾角的弹性抛光盘进行研抛加工。试验结果表明,采用"XYZ-4点"方法确定刀具坐标系原点和采用ABC世界坐标法确定刀具坐标系姿态,实现了加工过程中研抛刀具沿研抛轨迹的精确走刀。CAD/CAM轨迹与姿态规划的自动生成代替了传统复杂、费时的示教方法,实现了加工过程的主动柔顺性,而弹性抛光盘的采用实现了被动柔顺性。采用该试验平台和方法实现了复杂曲面工件自动、高效、低成本的研抛加工。

In order to improve the efficiency and surface quality of finishing machining for curved surfaces,the KUKA 30- 3 robot automatic polishing platform was built and experiment was carried out. Based on measuring principle of robot,the tool coordinate measuring was achieved according to workpiece in this experiment. The self- made CAD / CAM software was used to automatically generate the tool trajectory and elastic polishing disc with a certain angle was adopted in experiment. The experiment results show that XYZ-4 method was used to determine the tool coordinate system origin and ABC world coordinate method and was made to determine the tool coordinate posture,which could ensure the tool precise feeding along with the tool trajectory. The trajectory and posture planning take place of the traditional teaching method and achieve active compliance. And the elastic polishing disc was used to achieve the passive compliance in polishing process. The automatic,efficient and low cost polishing was achieved in this experiment.