机器人恒力磨抛材料去除研究

针对传统机器人-砂带磨抛工件时材料去除量难以定量控制的问题,结合Preston磨削经验公式与赫兹弹性接触理论,将法向磨抛力、砂带速度、工件进给速度3个工艺参数作为变量,建立机器人恒力磨抛的材料去除深度模型;然后进行硬件选型,搭建机器人恒力磨抛实验平台;最后以上述3个工艺参数为变量设计了机器人恒力磨抛单因素实验,实验结果较好验证了该材料去除深度模型的准确性。

Research on Material Removal of Robotic Constant force Grinding and Polishing

Aiming at the problem that it is difficult to quantitatively control the material removal amount during traditional robotic?sand belt grinding and polishing,combined with the Preston’s empirical grinding formula and Hertz flexibility contact theory,the ma?terial removal depth model of the robotic constant?force grinding and polishing was established in which the normal grinding force,abra?sive belt speed and workpiece feed rate were taken as variables.The hardwares were selected and the experimental platform of robotic constant?force grinding and polishing was built.Taking the above three process parameters as variables,the single factor experiment of the robotic constant?force grinding and polishing was designed.The experimental results verify the accuracy of the material removal depth model.