基于工业机器人的复杂曲面路径规划及组合抛光工艺研究

Research on Path Planning for Industrial Robots in Complex Surfaces

复杂曲面工件抛光加工中的路径规划及工艺的选择直接影响表面加工质量。针对目前机器人传输速率慢、容量受限以及对复杂曲面加工路径规划能力较差等问题,建立了一套机器人离线编程和远程控制系统,使用pose类型数据为载体传输位置坐标、欧拉角、速度等加工信息,传输速度相较一般信息传输模式提高了85.5%;同时,实现了对复杂曲面CAD模型的3D点云数据的提取及平滑插值以实现更高精度的表面重构。路径规划中提出12点采样耦合求解方法,解决了3D点云中法线误差影响机器人运行稳定的问题。结合以上控制及求解手段,通过采用发泡聚氨酯与不同粒径颗粒的组合加工工艺对6620铝合金叶片研磨抛光,实现了粗糙度从138.11 nm到2.05 nm的高效超光滑抛光加工。

Path planning and process selection in the polishing process of complex curved workpiece have a direct influence on surface quality.In view of the slow transmission speed,limited capacity and poor ability in complex surfaces path planning of the robots,a set of robot offline programming and a remote control system is established and the processing information such as position coordinates,Euler Angle and speed are transmitted using pose type data as the carrier.The transmission speed is 85.5%higher than the normal information transmission mode.Meanwhile,the 3D point clouds data extracted and smooth interpolation of complex surface CAD model are realized to achieve higher precision surface reconstruction.In the path planning,a 12-point sampling coupling method is proposed to solve the problem that the normal error in 3D point clouds affects the robot's running stability.Combined with the above control and solution means,6620 aluminum alloy blades are ground and polished by using the combined processing technology of foam polyurethane and particles with different particle sizes,and the highly efficient and ultra-smooth polishing process with roughness from 138.11 nm to 2.05 nm is realized.