论文部分内容阅读
提出了一种针对复杂型腔模具使用工业机器人进行抛光的方法,该方法可以实现稳定的力控制和精确的位置控制,且此抛光方法很易在线实现。为了保证模具不同法矢量曲面材料去除率的一致,提出根据曲面法矢量实时地调整电主轴转速的方法。系统刚度不同的机器人抛光需要采用不同的PI参数,该自适应PI控制算法可以进行抛光系统刚度的评估和PI参数的调整。仿真结果表明该方法可以很好地实现模具的抛光。
A method of polishing an industrial robot for a complex cavity mold is proposed, which provides stable force control and precise position control, and the polishing method is easy to implement online. In order to ensure the same material removal rates of different normal vector surfaces, a method of adjusting spindle speed in real time according to the surface normal vector is proposed. Robot polishing with different system stiffness requires different PI parameters. The adaptive PI control algorithm can evaluate the stiffness of the polishing system and adjust the PI parameters. The simulation results show that the method can achieve the polishing of the mold well.