摘要
针对采用球形刀具对工件进行抛光的过程中,刀具磨损会导致法向抛光力发生变化,从而影响曲面零件的抛光质量的问题,在考虑刀具磨损的情况下,提出一种基于刀具轮廓控制的曲面零件抛光自适应补偿方法,该方法可以实现精确的刀位点控制以及抛光力的自适应控制。首先分析在机器人抛光系统刚度影响下的法向抛光力和变形量的关系,结合接触条件建立刀具轮廓模型,根据刀具轮廓模型和刀具受力分析模型求解期望抛光力,最后通过刀具位置的自适应补偿,使机器人抛光过程更加柔顺。实验结果表明,采用该方法可以显著提高曲面零件抛光质量。
In the process of polishing the workpiece with the spherical tool,tool wear will lead to the change of normal polishing force,which will affect the polishing quality of curved parts.Considering the tool wear,an adaptive compensation method for surface part polishing based on tool profile control is proposed.This method can achieve the adaptive control of polishing force and precise control of the location of the cutter.To realize the approximate calculation of the expected polishing force of the workpiece during the polishing process,the relationship between normal polishing force and deformation under the influence of robot polishing system stiffness is firstly analyzed.The profile model of the tool is then established combined with the contact conditions.The expected polishing force is thereby solved according to the profile model and the tool force model.Finally,the robotic polishing process can be smooth through adaptive compensation of tool position.The experimental results show that the polishing quality of curved parts can be improved by this method.
作者
万志鹏
刘高飞
陈满意
朱自文
WAN Zhipeng;LIU Gaofei;CHEN Manyi;ZHU Ziwen(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)
关键词
刀具轮廓
曲面抛光
等效刚度
刀具补偿
tool profile
surface polishing
equivalent stiffness
tool compensation
