基于阻抗模型的工业机器人磨抛柔顺控制

Grinding and Polishing Compliance Control of Industrial Robot Based on Impedance Model

以型面尺寸精度与表面质量控制为目标的航空发动机叶片磨抛加工是叶片制造过程中的关键技术和难题。基于机器人磨抛执行器系统结构,文中采用基于位置的阻抗控制策略建立了磨抛执行器的柔顺控制系统,采用李雅普诺夫法分析机器人磨抛执行器的系统稳定性,实现了叶片磨抛加工过程中磨抛力的柔顺控制。实验结果表明,该方法能有效提高叶片表面磨抛加工质量。

The dimensional accuracy and surface quality of aero engine blades grinding process the is a key technical problem in the process of blade manufacturing.Based on the system structure of robot abrasive actuator,the compliance control system of abrasive actuator is established by using the impedance control strategy based on position.The Lyapunov method is used to analyze the system stability of robot grinding actuator.The compliant control of grinding force in the process of blade polishing is realized.The experimental results show that this method can effectively improve the quality of blade surface polishing.