| 詹庆荣,江本赤,李健康,吴路路.机器人曲面磨削轨迹的曲率自适应规划算法研究[J].井冈山大学自然版,2022,43(1):78-85 |
| 机器人曲面磨削轨迹的曲率自适应规划算法研究 |
| CURVATURE ADAPTIVE PLANNING ALGORITHM FOR ROBOT SURFACE GRINDING TRAJECTORY |
| 投稿时间：2021-08-15 修订日期：2021-09-27 |
| DOI：10.3969/j.issn.1674-8085.2022.01.013 |
| 中文关键词: 材料去除模型 赫兹接触理论 机器人磨削 轨迹规划 |
| 英文关键词: material removal model Hertz contact theory robotic grinding trajectory planning |
| 基金项目:国家自然科学基金项目（52005003）；安徽工程大学校级科研项目（Xjky019201904）；安徽工程大学-繁昌区协同创新基金项目（2021fccyxtb6） |
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| 中文摘要: |
| 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出轨迹线上的磨削点位，生成了等残余高度的磨削路径数据。以一张典型的自由曲面为例进行仿真实验，结果表明，与传统等参数路径规划方法相比，该方法更有利于改善加工表面残余高度的一致性。 |
| 英文摘要: |
| 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. |
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