一种基于动态外部TCP的工业机器人磨抛方法

A Kind of Industrial Robot Grinding and Polishing Method Based on Dynamic External TCP

在分析了复杂工件在工业机器人的磨抛应用情况之后,提出了一种基于动态外部TCP的工业机器人磨抛方法。以门把手作为研究对象,首先运用基于曲率的截面算法对门把手进行磨抛路径规划,求得轨迹离散点。其次根据截面截线在不同离散点的平均曲率、曲率半径求解出各点所对应的外部TCP。然后建立磨抛机器人基坐标系,根据规划的工件磨抛轨迹以DH算法求出机器人末端运行轨迹,再根据轨迹离散点与动态外部TCP的位姿转换关系求得实际机器人末端运行轨迹。最后采用Inte Robot离线编程软件仿真实验平台进行仿真验证,实验结果表明动态外部TCP算法可以达到较好的门把手打磨效果。

According to the analysis on complex workpiece using industial robot for grinding and polishing,this paper presents a method based on dynamic external TCP to grind and polish with industrial robots.In this study,we take the handle as the research object.First,we plan the trajectory for grinding and plishing with the section algorithm based on curvature,and get the trajectory dispersedpoints.Second,we work out the dynamic TCP of each point we got according to the mean curvature and curvature radius of section on different dispersed points.After that,we need to create the coordinate system of the robot used to work,then we work out the moving trail of the robot endeffector by both DH algorithm and the conversion relation between dispersed points and the pose of dynamic external TCP.Lastly,Simulate the polishing condition by the off-line programming software--Inte Robot.The simulation result indicates that the dynamic external TCP al-gorithm helps for better performance in polishing.