机器人柔性砂带磨削加工力控制研究与应用

摘要

为了实现柔性加工复杂曲面工件,设计了一种机器人柔性砂带磨削力控制系统.该系统不仅可以兼顾灵活变换机器人的位姿,而且又根据砂带磨抛机加工效率高的特点,比传统磨床更具柔性,更能适应加工复杂曲面工件.磨抛机既能使砂带柔性张紧和快速地调偏,还能实现被动力控制.机器人末端通过安装的六维力传感器,实现机器人的主动力控制.将这两种力控制技术有效结合起来,组成了机器人柔性砂带磨削力控制系统,能够更好地实现磨削过程中的磨削力控制.最后,该机器人柔性磨削力控制系统对钛合金试块和航空复杂曲面叶片进行加工实验,结果都表明工件的表面加工一致性好,而且其表面质量完全满足加工工艺要求,证明了该机器人柔性砂带磨削加工力控制系统的实用性和有效性.%In order to realize the flexible machining of complex surface parts,it designs a kind of robot flexible abrasive belt grinding system.The system not only inherits the sensitivity of robot pose change,but also takes into account the high efficiency of grinding and polishing machine.It is not only more flexible than the traditional grinding machine,but also can adapt to many varieties and small quantities of modern production mode.Grinding machine can not only achieve a flexible belt tension and quick adjustment of bias,but also can be able to achieve passive force control.The six-force force sensor is installed on the robot end-effector,it can realize the active force control technology.Originally,these two kinds of force control are combined to form a flexible grinding wheel robot robotic force control system,it is better to achieve the constant force control in the grinding process.Finally,the test piece and blade are applied to test the practicality of the system and the experimental results show that the surface finish of the workpiece is in good agreement with the surface quality of the machining process,and it proves the practicability and effectiveness of the robot belt grinding force control system.