摘要
碳纤维复合材料由于其优越的性能正被广泛应用于工业领域,为提高打磨该材料的表面质量及改善打磨环境,在工业机器人基础上开发一自动打磨系统并对打磨工艺进行研究。基于被动柔顺装置(Pushcorp AFD71)设计机器人打磨末端执行器,相较于传统打磨工具,它具有恒力输出、力控制稳定简单、响应快等优点。重点研究了机器人自动打磨系统的集成以及利用该系统对碳纤维复合材料进行打磨实验,研究各参数(主轴转速、机器人移动速度、打磨正压力、倾角和砂纸粒度)对表面粗糙度的影响。最后通过碳纤维复合材料顶盖横梁的打磨应用验证了该机器人自动打磨系统的实用性和优越性。
Carbon fibre composite material is widely applied in industrial field due to its superior performance.In order to improve the surface quality and the working equipment of grinding the material,it developed an automatic grinding system based on industrial robot and studied the grinding process. A robotic end-effector has been designed based on passive compliant device（ Pushcorp AFD71）. It has the advantage of constant force output,simple and stability force controlling,and fast response compared with traditional grinding tool. It is mainly introduced the composition of robotic automatic system and the experiments of grinding carbon fibre composite material with the system,and researched the parameters（ spindle speed,robotic moving speed,normal pressure,angle and sand granularity） influencing the surface roughness. Finally,the application of grinding roof beam with carbon fiber composite material verified the feasibility and practicability of the robotic automatic grinding system.
出处
《科学技术与工程》
北大核心
2016年第15期228-233,共6页
Science Technology and Engineering
基金
中科院STS项目(KFJ-EW-STS-080)
宁波市3315项目资助
关键词
工业机器人
柔顺装置
打磨系统
碳纤维复合材料
打磨工艺
表面质量
industrial robot
compliant device
grinding system
carbon fibre composite material
grinding process
surface quality
