自由曲面磨抛机械手末端执行器柔性设计与仿真

Flexible Design and Simulation of Manipulator End Effector for Grinding and Polishingof Free-form Surface

通过对自由曲面磨抛的运动分析,设计了一款基于双作用气缸的柔性磨抛机械手末端执行器。利用气动压力的柔顺性,既可以被动贴合曲面实现被动柔顺磨抛,又可主动进行压力调节实现活动台位姿的主动柔顺控制;建立了末端执行器机构的运动学逆解,推导了可磨抛最小曲率半径公式;利用SolidWorks和ADAMS软件建立了虚拟样机仿真模型,并对几种不同磨抛工况进行了仿真分析。结果表明:所设计的柔性末端执行器结构稳定、紧凑,对平面和自由曲面磨抛具有很好的普遍适用性。

According to the analysis of free-form surface grinding and polishing motion,a compliant polishgrinding manipulator end effector based on double-acting cylinder is designed.With compliance of pneumatic pressure,it can passively fit the surface to achieve passive compliant grinding and polishing;and can also actively regulate pressure to realize active compliant control of the movable table position.The inverse kinematics of the end effector mechanism is established,and the formula of minimum grindable curvature radius is deduced;the virtual prototype simulator was built by using SolidWorks and ADAMS software,and the simulation analysis of several different grinding and polishing conditions is carried out.The results show that the designed compliant end effector is stable and compact,and has good universal applicability to plane and free-form surface grinding and polishing.