摘要
为了研究机器人打磨碳纤维复合材料构件的表面质量,搭建机器人自动打磨系统进行打磨试验。通过正交试验,利用多元线性回归方法建立了表面粗糙度与打磨正压力、进给速度、打磨气压关系的预测模型,并进行显著性分析和预测试验;分析了气动偏心打磨机的结构,利用理论分析和仿真计算建立了去除函数模型,通过迭代计算获得了机器人打磨路径的行距,并进行验证试验。结果表明,表面粗糙度预测模型显著性强,在所研究参数范围内的预测误差在±7%以内;基于偏心打磨机去除函数模型规划机器人打磨路径,能够减少构件表面树脂堆积,提高打磨均匀性。
This paper has developed a robotic sanding prototype to experimentally study the surface integrality of robotic sanding for carbon fiber reinforced plastics.The multiple linear regression method is used to establish a predictive model for the surface roughness,which considers the effects of the normal sanding force,feed velocity and air pressure of sanding tool through orthogonal experiments.Then the significance analysis and the sanding experiments are conducted to verify the model.On the other hand,after the structure of a pneumatic eccentric sanding tool is analyzed,the material removal function is modeled through both theoretical analysis and simulation.Then the robot motion path interval is calculated using the iterative algorithm and the model verification experiments are carried out.The results indicate that the regression model for predicting the surface roughness value is highly significant,and the prediction error in the range of the experiment parameters is within±7%.In addition,the motion path of the robot given by the material removal model can reduce the resin accumulation on the surface of the workpiece and improve the sanding uniformity.
作者
张辉
吴丹
胡奎
董云飞
ZHANG Hui;WU Dan;HU Kui;DONG Yun-fei(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第11期171-174,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(51575306)。
