共查询到20条相似文献,搜索用时 31 毫秒
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为了实现复杂曲面工件的智能抛磨加工,对叶片复杂曲面进行机器人抛磨工艺规划。对抛磨点位置规划算法和基于最大接触原则的抛磨姿态规划算法进行了研究。首先,通过平行截面法获得抛磨路径割线,以非均匀有理B样条(NURBS)曲线描述。接着,提取曲线特征参数,根据设定的阈值进行抛磨点规划,再基于抛磨轮与工件的最大接触原则进行抛磨点姿态规划,从而得到完整的抛磨路径。然后,将工件位姿从工件坐标系转换到TCP坐标系。最后,搭建了柔性抛磨系统仿真平台生成机器人控制程序。实验结果表明,此方法规划的路径可用于叶片复杂曲面的机器人抛磨加工。分别用本文规划所得路径和CAM软件规划所得路径对叶片进行抛磨加工,测得表面粗糙度分别为0.695~0.930μm和2.803~3.243μm。本文提出的抛磨位姿规划方法可用于复杂曲面工件的抛磨路径规划,使工具和工件保持最大接触,从而避免了位姿不合理所产生的过抛和欠抛。 相似文献
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Xiangyang Ren Bernd Kuhlenkötter 《The International Journal of Advanced Manufacturing Technology》2008,35(11-12):1090-1099
Real time simulation and visualization are important for robot programmers to verify and optimize the path planning for the robotic belt grinding process. A new free-form surface representation based on discrete surfel element is developed to facilitate the system implementation, which exploits the advantage of the new development of point-based rendering technology in computer graphics. A local process model is integrated to calculate the material removal rate by considering the local geometry information and non-uniform force distribution. The final surface grinding error is easy to be assessed and visualized for quality evaluation. The experiments show that the simulation error is below 15%, even for a non-uniform contact under stable cutting conditions. 相似文献
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根据复杂曲面磨削任务对机器人的实际要求,提出了一种PPPRRR砂带磨削机器人构型,利用D—H法建立了机器人的运动模型及正反解方程。建立了基于该构型机器人砂带磨削系统的曲面磨削数学模型,在此基础上以高尔夫球头为典型工件代表,分析了利用夹具改变零件的装卡姿态及改变磨削机与机器人相对位置对工件可磨削性的影响,利用蒙特卡洛方法优化了磨削机与机器人的相对位置及零件装卡姿态,提高了磨削机器人系统的加工性能。 相似文献
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Farzad Rafieian Bruce Hazel Zhaoheng Liu 《The International Journal of Advanced Manufacturing Technology》2014,73(5-8):949-972
This paper studies the vibratory dynamics governing material removal performed by a compliant robot. The objective is to understand whether metal removal at a target rate or to a target depth of cut is possible given the unavoidable significant and sustained vibrations inherent to the process. Robotic grinding by the SCOMPI robot developed at Hydro-Québec’s research institute for field maintenance work on hydroelectric equipment is studied. A test rig is developed to investigate the instantaneous process of material removal. The setup employs the methodology of angular analysis to detect and locate the discrete cutting events with respect to the instantaneous angular position of the spindle. Test results confirm that the grinding wheel exhibits cyclic impacting oscillations while removing material. This vibro-impact behavior is explained by the nonsmooth nature of the system arising from the substantial difference between process stiffness and stiffness of the robot. Grinding force and power are formulated based on the impacting dynamics of material removal (impact cutting). Parameters of the impact-cutting model are determined experimentally. The impact-cutting model is found well-suited to predicting the grinding power required to remove metal at a target rate. The conclusion is reached that metal removal to a target depth and with acceptable surface waviness is possible despite high-amplitude vibro-impacts between the grinding wheel and workpiece. 相似文献
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H. Dai K. M. Yuen Prof. M. A. Elbestawi 《The International Journal of Advanced Manufacturing Technology》1993,8(3):182-192
The modelling and control of the grinding force for the robotic disc-grinding process are described. Modelling experiments were conducted using an industrial robot equipped with a pneumatic grinder and a force sensor. The models relating the commanded depth of cut to the corresponding normal grinding force was developed based on nine sets of experimental data. These data were collected at three different grinding paths with three different pseudo-random binary sequence amplitudes in order to fully investigate the dynamics of the process. Using the extended-least squares method for recursive parameter estimation, a linear fourth-order autoregressive moving average with exogenous variable model was successfully developed for the robotic disc-grinding process.Using the identified models, an adaptive pole placement controller was developed and tested using computer simulations, The purpose of the controller is to regulate the normal grinding force. The results demonstrate effective control under various grinding conditions. 相似文献
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W. X. Ng H. K. Chan W. K. Teo I. M. Chen 《The International Journal of Advanced Manufacturing Technology》2017,91(5-8):1599-1618
This paper describes a novel methodology for generating grinding tool paths, orientations and grinding parameters based on the captured trajectories of a surface finishing tool operated by the skilled operator. First, a variable frame size moving window principal component analysis is performed on the trajectories. Next, features such as the amplitude, speed of the tool centre point, direction of travel, average position, contact force and orientation of the grinder are calculated. Kernel k-means clustering is applied to the trajectory’s feature vectors for segmentation into the tool path primitives. The robotic tool path primitives would be ordered similar to the manual tool path primitives in the grinding strategy. The robotic tool path primitives are then generated based on the boundaries of the manual tool path primitive in a computer-aided manufacturing software. Anchor points are selected from the corners and at intermediate sections along the robotic tool path to inherit the orientations of the manual tool path. Using the inherited skilled operator tool orientations, spherical linear interpolation and spherical spline quaternion interpolation are used to interpolate the orientations for the robotic tool path points along the cross curves, followed by the flow curves, respectively. A finite element model of the belt grinding process is also introduced to quantify the effect of the contact wheel serrations on the material removal rate. This is to account for the difference in contact wheel design between the handheld and robotic grinding tool. The programmed robotic tool paths generated from the trajectories captured from a skilled operator were proven to be able to grind the workpiece to the desired profile within the desired tolerance in a pre-production environment. 相似文献
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针对软固结磨粒气压砂轮在加工异形曲面时,工件所受的切削力以及接触区内磨粒速度因工件曲率发生变化,导致工件不同曲率处材料去除量不均匀的问题, 基于修正的Rowe剪胀理论建立砂轮切削力模型,提出了非一致曲率表面下修正的气压砂轮材料去除模型。通过EDEM软件建立了软固结磨粒气压砂轮模型,分析了砂轮下压量为1.5 mm时工件曲率对接触力以及接触区内磨粒速度的影响。搭建气压砂轮加工试验平台,通过光整加工试验验证修正的材料去除模型。研究结果表明:修正的材料去除模型平均绝对值误差为0.095,而原始的材料去除模型平均绝对值误差为0.291,说明修正的材料去除模型可以用于气压砂轮抛光过程中的定量分析,且工件加工表面划痕明显减少。 相似文献
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In the fabrication and maintenance of hydroelectric turbines, the reconstruction by grinding of certain high-curvature surfaces such as junctions has not yet been robotized and must now be done manually. The problem is related to the very fast grinding wheel wear and the difficulty in controlling the position and orientation of the robot's grinder to adjust to changes in wheel shape. If the grinding wheel orientation is kept constant with respect to the workpiece, wheel-workpiece conformity increases, specific energy increases, the material removal rate drops and glazing of the wheel may occur. This article presents a method for controlling simultaneously the profile of both the workpiece and the grinding wheel. The orientation of the wheel is oscillated to maintain a constant wheel profile throughout its life and thus achieve better control in material removal. Research results provide the basis for robotic grinding tool profiling. 相似文献
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分析了Cu-3镍铜合金砂带磨削加工过程中,砂带粒度和磨削用量的不同对磨削加工效率、工件表面质量和砂带磨损的影响。采用氧化铝磨料砂带在不同的砂带线速度或磨削压力下对镍铜合金进行了工艺试验,对材料去除量、工件表面粗糙度和砂带磨损量进行了测量。研究表明:增加砂带线速度和磨削压力可在一定程度上提高材料去除率和磨削比;随着磨削压力的增大,工件表面粗糙度呈增大趋势;随着砂带粒度的增大,工件表面粗糙度呈减小趋势;砂带线速度为25m/s,磨削压力为43N,砂带粒度为P240时,镍铜合金综合磨削效果最好。 相似文献
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A computer simulation method for investigating the form generation mechanism in the centerless through-feed grinding process
is described. The length of the contact line and the magnitude of the grinding force between the grinding wheel and workpieces,
vary with the change in the axial location of the current workpiece during grinding. Thus, a new coordinate system and a grinding
force curve of previous and/or following workpieces are introduced to treat the axial motion. Experiments and computer simulations
were carried out using four types of cylindrical workpiece shapes. To validate this model, simulation results are compared
with the experimental results. 相似文献
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WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an China 《机械工程学报(英文版)》2011,(4):647-655
Off-line programming (OLP) system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification (IGES) file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton’s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding. 相似文献
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Marcos Ferreira António Paulo Moreira Pedro Neto 《The International Journal of Advanced Manufacturing Technology》2012,58(9-12):1031-1041
In this paper, an adaptive and low-cost robotic coating platform for small production series is presented. This new platform presents a flexible architecture that enables fast/automatic system adaptive behaviour without human intervention. The concept is based on contactless technology, using artificial vision and laser scanning to identify and characterize different workpieces travelling on a conveyor. Using laser triangulation, the workpieces are virtually reconstructed through a simplified cloud of three-dimensional (3D) points. From those reconstructed models, several algorithms are implemented to extract information about workpieces profile (pattern recognition), size, boundary and pose. Such information is then used to on-line adjust the “base” robot programmes. These robot programmes are off-line generated from a 3D computer-aided design model of each different workpiece profile. Finally, the robotic manipulator executes the coating process after its “base” programmes have been adjusted. This is a low-cost and fully autonomous system that allows adapting the robot’s behaviour to different manufacturing situations. It means that the robot is ready to work over any piece at any time, and thus, small production series can be reduced to as much as a one-object series. No skilled workers and large setup times are needed to operate it. Experimental results showed that this solution proved to be efficient and can be applied not only for spray coating purposes but also for many other industrial processes (automatic manipulation, pick-and-place, inspection, etc.). 相似文献
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Xiang Zhang Klaus Kneupner Bernd Kuhlenkötter 《The International Journal of Advanced Manufacturing Technology》2006,27(7-8):726-732
Industrial robots have been introduced to the belt grinding of free-form surfaces in order to obtain high-quality products
and high-efficiency. One of the critical problems of high-precision belt grinding is to compute the force distribution in
the contact area between the workpiece and elastic grinding wheel. The finite element method (FEM) is the traditional way
to solve such a contact problem. However, the FEM model is too time-consuming. Normally, a single calculation takes several
minutes on a powerful PC, which is unacceptable for real-time simulations and on-line robot control. A new model based on
a neural network (NN) technique is developed instead of the FEM model to calculate the force distribution. The new model approximates
the old FEM model with an acceptable tolerance but can be executed much faster than FEM model. With this new model, real-time
simulation and on-line robot control of grinding processes can be further conducted. 相似文献
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Method for graphically evaluating the workpiece’s contour error in non-circular grinding process 总被引:1,自引:1,他引:0
Ji Huan Weimin Ma 《The International Journal of Advanced Manufacturing Technology》2010,46(1-4):117-121
To find and compensate the dynamic contour error of workpieces on CNC non-circular grinder, a graphic display and evaluation method is introduced. The programmed set and actual contours of workpiece are displayed through the outlines of grinding wheel at a series of set and actual positions. The dynamic contour error can be recognized directly on CNC control screen without extra measuring equipments as usual. The set and actual positions of grinding wheel related to workpiece are collected from the CNC controller and servo drives and further evaluated. This process is carried out after a dry-run cycle on the machine. Based on this method, a display and evaluation software module has been developed and integrated in the controller of a CNC non-circular grinder. It helps to find contour error and generate the compensation data. Grinding an eccentric test piece shows good result and advantage of the proposed method. 相似文献