图形变换技术在汽轮机缸体表面打磨机器人系统中的应用

介绍了汽轮机缸体表面数控随形打磨机器人控制软件中的图形变换技术，用齐次变换矩阵实现了三维空间曲面在屏幕坐标上的任意轴测投影变换，为使用者提供了直观形象的加工工况和加工进度方案，用图形非线性变换技术成功地解决了多自由度控制点坐标的变换以及磨头姿态调节和恒压力磨削等难题，这些方法经过实际验证，行之有效。

The Application of Graphic Transfer Technique in Control System of the Robot for Grinding Turbine Body Surface

The application of graphic transfer technique in control software of a profile-followed robot for grinding turbine surface is described. Projection transformation in any axis of 3D camber on a display coordinate is realized by using homogeneous transfer matrix, visual information of grinding and process is provided for user. 2D graphic linear transfer technique is used to provide user with uniform NC programming format and 2D grinding process for 3D profile are realized. A serial of difficult problems that include coordinate transferring of controlled points in multi-coordinates system, the attitude adjustment of grinding and constant pressure grinding are successfully solved with using graphic non-linear transfer technique. All the methods are proved to be feasible and efficient in actual practice.