一种混联自动抛光机器人控制系统的设计

Design of a Control System for Hybrid Polishing Robots

针对当前自由曲面金属的表面抛光还停留在人工操作、加工效率低、质量不稳定的现状,设计出一款具有抛光力自适应的混联抛光机器人系统.该机器人系统适用于平面、弧面、回转体等多种金属表面的抛光打磨.通过PLC对该抛光机器人系统的3个伺服电机及2个力平衡气缸进行控制,实现机器人的自动抛光功能.

Free-form surface polishing of metal is still stuck at the manual operation stage with low processing efficiency and unstable quality. A hybrid robot with adaptive polishing force is designed to solve this problem. Different kinds of surface such as plane surface, cambered surface and revolved bodies can be polished b balance air cylinders to ac y it. A PLC system is used to control three servo motors and two force hieve automatic polishing.