磨抛机器人末端柔性并联结构设计与研究

Design and Research of Flexible Parallel Structure at the End of Grinding and Polishing Robot

针对粉煤光片磨抛过程,提出了一种柔性并联末端执行器结构。利用双作用气缸作为并联支链的柔性驱动元件,实现对磨抛机器人末端的主动柔性控制;利用ADAMS对不同工况的磨抛过程进行柔性仿真分析,实现了对粉煤光片磨抛过程的主动柔性跟随;搭建磨抛机器人实验平台,对粉煤光片进行磨抛实验。结果表明:磨抛后的粉煤光片经显微检测均为合格品,磨抛质量和效率较人工操作显著提高,自动磨抛速度比手工磨抛速度平均提高2.65倍,验证了结构设计及仿真分析的可行性,具有实际应用价值。

Aiming at the grinding and polishing process of polished grain mounts,a flexible parallel end effector structure is proposed. Double-acting cylinder is used as the flexible driving element of the parallel branch chain to realize the active and flexible control of the end of the grinding and polishing robot;Using ADAMS to carry out flexible simulation analysis of the grinding and polishing process of different working conditions,realize the active and flexible follow-up of the polished grain mounts grinding and polishing process;Build a grinding and polishing robot experiment platform to conduct grinding and polishing experiments on polished grain mounts. The results show that the polished grain mounts after grinding and polishing are all qualified products through microscopic inspection,the quality and efficiency of grinding and polishing are significantly improved compared with manual operations,automatic grinding and polishing speed is 2.65 times higher than manual grinding and polishing speed on average,which verifies the feasibility of structural design and simulation analysis,has practical application value.