机器人曲面磨削轨迹的曲率自适应规划算法研究

机器人在曲面类零件加工中应用日趋广泛,针对自由曲面轨迹规划困难、工件表面粗糙度均匀性难以控制等问题,提出一种能适应曲面曲率变化的机器人曲面磨削轨迹规划方法.基于赫兹理论分析机器人磨具与工件表面的接触应力变化,通过求解材料去除模型计算出曲率影响下的相邻磨削轨迹行距,得到了曲率自适应的磨削轨迹;然后通过恒等弦高误差算法求解...

CURVATURE ADAPTIVE PLANNING ALGORITHM FOR ROBOT SURFACE GRINDING TRAJECTORY

Robots are widely used in the processing of curved parts. Aiming at the difficulties of free-form surface trajectory planning and the difficulty of controlling the uniformity of workpiece surface roughness, a robot surface grinding trajectory planning method adapt to changes in surface curvature is proposed. Based on the Hertz theory, the contact stress change between the robot abrasive tool and the workpiece surface is analyzed, and the adjacent grinding track distance under the influence of curvature is calculated by solving the material removal model, and the curvature adaptive grinding track is obtained. Then the grinding points on the trajectory are solved by the constant chord height error algorithm, and the grinding path data with the same residual height are generated. Taking a typical free-form surface as an example for simulation experiments, the results show that compared with the traditional isoparametric path planning method, this method is more conducive to improving the consistency of the residual height of the machined surface.