一种打磨机器人末端执行器的设计与分析

Design and analysis of an end effector of a polishing robot

针对发动机缸体后处理的打磨过程中存在的问题,提出了一种Y型双工位的末端执行器的设计方案,分析了其结构组成、工作原理,设计了末端执行器的结构和砂轮尺寸,在PTC Creo Parametric软件平台上建立了末端执行器的三维模型,在Simulate中校核了其关键部件的刚度与强度,在Robot Studio中规划了打磨路径,并在相应的工作空间之内,分析了其位姿及路径的可抵达性,最后通过仿真实验检验了其规划的路径的合理性。分析结果表明:该末端执行器结构稳定、设计合理,机器人在工作区域的路径规划中,各关节可抵达性为100%,且不与其他工件干涉,能够实现对缸体端面和凸台面的自动化打磨任务;可为其样机的研制提供理论依据,为打磨路径的优化提供参考。

Aiming at grinding process of engine cylinder post processing of the problem, a design scheme of end effector of a Y type double station was put forward. The structure composition, working principle were analyzed and the end effector of the structure and size of grinding wheel were designed. The 3 D model of the end effector was established on the PTC Creo Parametric software platform and the stiffness and strength of the key components were checked on the Simulate. Grinding path was planned in the Robot Studio,and in the corresponding work space, the position and the path of the arrival whether it is reasonable were analyzed by the simulation experiment.The results indicate that the structure of the end effector is stable and reasonable. It is reported that during the robot path planning in the work area, the joints can be arrived at for 100% without interfering other workpiece interference after optimization.It can realize the automation of cylinder surface and convex mesa grinding task and provide a theoretical basis for the prototype and the optimization of the polishing path.