机器人自动研磨系统及试验

基于研磨工人的操作特点，建立机器人自动研磨系统，实现系统的运动控制，并着重进行自动研磨的基础性研究。研究表明：采用一定粒度的砂轮，根据研磨工人的作业情况保持适当的研磨压力，选取合理的研磨速度、工作角度、进给速度以及研磨次数，可以达到较为满意的研磨效果。

An Automatic Polishing System by Robot and Experimental Research

According to the polishing characteristics of the skilled mechanists,an automatic polishing system by robot is established and the motion control of the system is realized in this paper.Emphasis is laid on the fundamental research into the automatic polishing.The study shows that the satisfactory polishing results(refer to Ra ,the roughness of the polished surfaces and De ,the normal quantity of removal) can be obtained by using the whetstone wheel with certain grain size,choosing the proper rotating speed of whetstone wheel,polishing angle,feed speed and number of polishing times,and keeping the polishing force approximately equal to the force of hand polishing by the skilled mechanists.A helpful attempt is made to achieve the automatic precision machining on the moulds in this paper.