未知工件CAD信息的气囊抛光技术研究

为解决传统的气囊抛光操作都需要工件CAD信息所引起的抛光效率低下、操作复杂等问题，现将一种能够在线自动重构工件几何信息技术应用到机械臂气囊抛光系统中。介绍了抛光工件未知曲面在线重构的操作方法，从而获取工件未知曲面的法矢量，提出了抛光气囊头与工件未知曲面接触力的主动控制方案，将传统的力/位并行控制算法模拟人的大脑，试着去识别工件表面的几何变化趋势，建立了具有时变约束的在线最优轨迹规划算法。通过在机械臂气囊抛光实验设备中对一未知几何信息的工件进行了自动抛光操作，对抛光效果和抛光过程中的接触力进行了实验对比和数据分析。结果表明，该策略在应用改进的力/位并行控制算法跟踪和识别一个未知的抛光工件曲面是可行、有效的。

Research of the Technology of Gasbag Polishing without CAD Information of Workpiece

In order to solve the problems which the gasbag polishing operations are always required by CAD informa-tion of workpiece which causes efficiency low, operation complex and so on, now the gasbag polishing operations which can automatically on-line reconstruct the geometry information of workpiece was investigated in this paper. The operation method of on-line reconstruction of a workpiece surface was introduced, which is in order to obtain the normal vector of workpiece surface. The active control method of contact force between polishing bonnet head and the workpiece surface was proposed, which is use force and position parallel control to simulate the human brain, try to recognition the geometry trend of workpiece surface. The trajectory planning algorithm with time-vary-ing constraints was established. The strategy was evaluated on the mechanical arm gasbag polishing experiment equipment, and the data of contact force and polishing effect was also analyzed. The experimental results show that the strategy with used in force and position parallel control algorithm and surface understanding is feasible and effec-tive.