基于3D视觉和力控技术的复杂曲面打磨系统

Complex Surface Polishing System Based on 3D Vision and Force Control Technology

本文研究设计了一套基于3D视觉和力控技术的复杂曲面打磨系统,以机器人打磨代替人工打磨,解决了人工打磨耗时长、效率低、质量难以保证等问题,大大提高了复杂曲面打磨的工作效率和生产质量。本文利用3D视觉系统对复杂工件外形进行识别并进行打磨路径规划,利用恒力打磨装置控制打磨接触力,最终通过现场实际应用,达到了较好的应用效果。

This paper presents a 3D vision and force control based complex surface polishing system,by which manual polishing can be replaced by robot polishing.The disadvantages such as time-consuming,low efficiency,and unguaranteed quality arise in manual polishing could be greatly removed or alleviated.In this paper,3D visio system is used for shape identification of the complex workpieces and path-planning of grin n ding.Furthermore,a constant force grinding device is utilized to control the grinding contact force.Finally,the excellent performance of the new complex surface polishing system is demonstrated by practical applications.