面向复杂曲面的机器人砂带磨抛路径规划及后处理研究

针对机器人砂带磨抛复杂曲面叶片问题,对叶片内外型面和进排气边的磨抛路径规划及后处理技术进行了研究,对复杂曲面叶片的机器人砂带磨抛路径规划的计算效率及加工效率进行了分析,提出了一种将基于等残留高度法的笛卡尔空间计算的磨抛行距转化为参数域空间的磨抛行距的方法,并将机器人砂带磨抛复杂曲面叶片接触轮的中心坐标位置、支撑轴矢量以及轴线矢量数据后处理为机器人的位姿信息,利用机器人砂带磨抛系统装备实验平台对复杂曲面叶片进行了实际的加工实验。研究结果表明:所提出的刀路规划和后处理技术能够有效地解决机器人砂带磨抛复杂曲面叶片的问题,具有加工路径总长短以及路径条数少的特点,计算简单、加工效率高、加工表面质量好。

Tool path planning and post-processing techniques of robotic belt grinding for complex surfaces

Aiming at the problems of the complex blades of robotic belt grinding, the tool path planning and post-processing techniques were studied, which were used in the profile, intake and exhaust sides of the complex blades. After the analysis of the computational efficiency and machining efficiency for the complex surfaces of robotic belt grinding path planning, the method was purposed to put the line spacing in Cartesian space based on the residual height into the parametric line spacing, and the data of the central coordinates position, supporting axi-al vector and axial vector of the contact wheel was post-processed into the pose information of robot. The actual processing tests were carried out on the platform of the robotic belt grinding equipment. The results indicate that the tool path planning and post-processing method can ef-fectively solve the complex problem of grinding the surface of the complex blades, and can also possess the characteristics of less machining path length and the total number, with a simple calculation, high efficiency, high precision machining.