钻石抛磨智能机械手控制系统设计

Design of Control System of Intelligent Manipulator for Diamond Grinding and Polishing

中国作为钻石生产大国,对于钻石的加工还主要依赖于人工抛磨,然而钻石在抛磨时表现出很强的各向异性,这严重影响了钻石的抛磨效率。针对这个问题,深入研究了钻石的抛磨机制,设计了基于uCOS-Ⅱ的钻石亭面抛磨机械手控制系统,针对钻石的各向异性提出了智能寻优策略的解决方案,并在钻石抛磨机械手上运行,该系统可以通过压力变化准确地识别软抛磨方向,从而实现了钻石的自动化加工,解决了各向异性为钻石加工带来的加工困难且效率低下问题。目前基于该控制系统的智能抛磨机械手已经交付给钻石生产厂商使用,并明显提高了钻石的加工效率和表面质量。

As one of the largest producer of diamonds, China still rely on manual grinding and polishing for diamond production, while diamond shows strongly anisotropy when polishing, which has seriously affected the efficiency of polishing. To overcome this prob- lem, a systematic study is made on the mechanism of diamond grinding and polishing. A control system of the manipulator was designed for even surface of diamond polishing which based on μCOS-Ⅱ. In terms of the diamon＇s strongly anisotropy, an intelligent optimization strategy was presented to identify the solft direction of polishing automatieally. This system was run on the manipulator for diamond pol- ishing, which could accurately identify the solft dirction by sensing the pressure variation, thereby implement automatic dimond produc- tion and solve the problem of inefficient and difficulties brought by the anisotropy. Currently, the intelligent manipulators based on the control system have been delivered to some manufactures to use, which signigicantly improve the efficiency and surface quality of the diamond polishing.