| 基于环境模型优化的机器人磨抛阻抗控制 |
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| 引用本文： | 王竞航,彭云峰.基于环境模型优化的机器人磨抛阻抗控制[J].金刚石与磨料磨具工程,2021,41(6):12-17. |
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| 作者姓名： | 王竞航 彭云峰 |
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| 作者单位： | 厦门大学 航空航天学院, 福建 厦门 361000 |
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| 基金项目： | 国家自然科学基金(52075463,51805459)福建省科技计划(2017H0036)。 |
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| 摘 要： | 对比传统加工机床，机器人的刚度与定位精度较低，为提高机器人辅助磨削的加工质量，需要控制其加工过程中的接触压力。基于球形弹性磨具磨削时的接触特性，以磨具的下压量为自变量，磨具与工件的接触压力为因变量进行有限元仿真，对下压量-接触压力仿真结果进行曲线拟合，并通过接触实验验证其准确性，以此建立基于环境模型修正的阻抗力学控制模型，从而进行自由曲面力控实验。结果表明:建立的基于环境模型修正的阻抗控制方法能有效改善球形弹性磨具的力控性能，自由曲面力控精度达到±0.5 N，且可为球形弹性磨具复杂曲面的磨削加工提供稳定的磨削压力。
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| 关 键 词： | 机器人磨抛 阻抗控制 环境模型优化 曲面磨削 |
Robot grinding and polishing impedance control based on environmental model optimization |
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| WANG Jinghang,PENG Yunfeng.Robot grinding and polishing impedance control based on environmental model optimization[J].Diamond & Abrasives Engineering,2021,41(6):12-17. |
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| Authors: | WANG Jinghang PENG Yunfeng |
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| Affiliation: | School of Aeronautics and Astronautics, Xiamen University, Xiamen 361000, Fujian, China |
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| Abstract: | Compared with traditional machining machine tools, the stiffness and the positioning accuracy of robot were low. In order to improve the machining quality of robot assisted grinding, it was necessary to control the contact pressure in the machining process. Taking the depressing amount of the grinding tool as the independent variable, the contact pressure between grinding tool and workpiece as the dependent variable, the finite element simulation was carried out based on the contact characteristics of spherical elastic grinding tool during grinding. The curve fitting of the downforce contact pressure simulation results was carried out, and its accuracy was verified by the contact experiment. The impedance control model modified based on the environmental model was established, and the free-form surface force control experiment was carry out. The results show that the impedance control method based on environmental model modification can effectively improves the force control performance of the spherical elastic abrasive tools, and the free-form surface force control accuracy reaches ±0.5 N, which provides stable grinding pressure for the complex surface grinding of the spherical elastic abrasive tools. |
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