机器人恒力干磨削的材料去除深度建模

Modeling of Material Removal Depth in Robot Constant Force Dry Grinding

在机器人末端安装被动柔顺装置进行恒力干磨削加工,材料去除深度较难控制。为确定合适的磨削用量控制材料去除深度,根据磨削理论和磨削力经验公式,建立关于法向压力、进给速度和主轴转速的材料去除深度模型,材料去除深度与磨削用量指数幂的乘积成正比。通过正交实验标定模型的未知参数,建立完整的材料去除深度模型;通过单变量实验分析材料去除深度与磨削用量的关系;通过多变量随机实验对材料去除深度模型进行验证。单变量实验和随机实验表明,材料去除深度与磨削用量指数幂的乘积成正比。在磨削加工精度允许范围内,可以根据材料去除深度模型确定磨削用量控制材料去除深度。

It is difficult to control the depth of material removal when passive compliant devices are installed at the end of robots for grinding.In order to determine the appropriate grinding parameters to control the grinding depth,according to the grinding principle and the empirical formula of grinding force,the material removal depth model of robot dry grinding with normal pressure,feed speed and spindle speed is established.The material removal depth is proportional to the product of the exponential power of grinding parameters.The unknown parameters of the model are calibrated by orthogonal experiments,and a complete material removal depth model is established;The relationship between material removal depth and grinding parameters is analyzed by univariate experiments.The material removal depth model is verified by multivariate random experiments.The univariate experiments and random experiments show that the material removal depth is directly proportional to the product of the exponential power of grinding parameters.Within the allowable range of grinding accuracy,grinding parameters can be determined according to the material removal depth model to control the material removal depth.