基于机器人系统的3M技术研究

介绍了机器人系统在3M技术中的应用,并详细介绍了机器人系统的关键技术:机器人标定技术、机器视觉技术和离线编程技术。经过标定后机器人系统绝对精度大幅度提高,可满足机器人"手持"测量工具进行测量的需要,同时通过机器人模型和运动学方程,将测量数据建模,生成统一世界坐标系下的加工路径,将生成的加工路径通过离线编程技术转化成机器人系统的运动指令,控制机器人进行加工,因此机器人系统在测量、建模和加工过程中发挥了非常重要的作用。同时介绍了一种机器人系统在3M技术中的典型应用,并开发了智能测量、建模及加工机器人一体化系统,该系统集成了透明件测量、自由曲面建模、机器人离线加工等先进技术,满足了用户需求,已经成功应用于透明件研磨抛光领域。

3M technology research based on robot system

This paper introduces the application of robot system in 3M technology and its key technology in detail such as robot calibrate,machine vision and off-line programming technology.Through calibration the absolute precision of robot system can be improved hugely,thus the robot can hand the measuring instrument to accomplish the measurement,then uses the robot system modeling and the equation of kinematics,constructs a model of the measuring data,creates the machining path of the uniform world coordinate system,transforms the path to the movement instruction of robot,and controls the robot to work,so the robot system is very important in the measuring,modeling and manufacturing(3M).Simultaneously,this paper introduces an integrated system of measuring,modeling and manufacturing which can satisfy the consumer and be applied to the rubbing-polishing field successfully.