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针对普通商用工业机器人的封闭控制结构难以实现在线控制的特点,采用软质抛光工具来降低快速制模工艺中机器人抛光的轨迹误差.为了获得稳定的抛光压力,在机器人抛光轨迹规划的基础上,通过轨迹调整,对软质抛光工具的弹性变形和抛光过程磨损进行有效补偿.实验结果表明:当轴向预压量为1.0 mm时,每隔175 mm的抛光间距进行轴向补偿0.1 mm,即可获得稳定的抛光压力和均匀的抛光过程.
Aiming at the characteristics that the closed control structure of ordinary commercial industrial robots is difficult to realize on-line control, a soft buffing tool is used to reduce the trajectory error of robotic polishing during the rapid mold making process.In order to obtain stable polishing pressure, on the basis of robot polishing path planning, By means of trajectory adjustment, the elastic deformation of polishing tool and the wear of polishing process are effectively compensated.The experimental results show that when the amount of axial preload is 1.0 mm, the axial compensation is carried out 0.1 mm every polishing interval of 175 mm, that is A stable polishing pressure and a uniform polishing process are obtained.