打磨机器人中图形变换技术

介绍了汽轮机缸体表面数控随形打磨机器人控制软件中的图形变换技术。用齐次变换矩阵实现了三维空间曲面在屏幕坐标上的任意轴测投影变换，为使用者提供了直观形象的加工工况和加工进度信息；用二维图形线性变换技术，为使用者提供了统一的数控编程格式，并实现了三维曲面的二维加工方案；用图形非线性变换技术成功地解决了多自由度控制点坐标的变换以及磨头姿态调节和恒压力磨削等难题。其数学方法已经过实际运行的验证是行之有效的。

Graphic Transfer Technique Applied in the Grinding Robot

The Graphic transfer technique applied in control software of a profile-followed robot for grinding turbine surface is described. Projection transformation in any axis of 3D camber on a display coordinate is realized by using homogeneous transfer matrix, which provides user with visual information of grinding and processing. 2D graphic linear transfer technique is used to provide user with uniform NC programming format and to carry out 2D grinding process for 3D profile. 3D non-linear transfer technique is successfully used to solve a series of difficult problems including coordinate transfer of controlled points in multi-coordinate system, the attitude adjustment of grinding and constant pressure grinding. All the mathematics methods used are demonstrated in practice feasible and efficiently.