轮毂曲面机器人力控磨抛路径规划方法

针对复杂轮毂曲面的机器人力控磨抛问题，根据预设的平行扫掠线模式进行曲面分割。在各子曲面，根据接触力及材料去除数值模型，构建以磨抛总量最大及残余磨抛量最小为目标的约束非线性优化问题，进而规划各路径离散点的驻留时间及相邻平行路径间距。通过解决非线性整数规划问题，对磨抛工具在子曲面间的抬降进行规划。实验结果表明，该算法能够规划出全覆盖磨抛路径，磨抛量达到预期，残余磨抛量较为平均，磨抛效率较高。

Path Planning for Force-controlled Robotic Grinding of Hub Surfaces

Aiming at force-controlled grinding problems of automobile hubs, we segment the complex surface based on predetermined sweeping line mode. On each sub-surface, we establish the constrained nonlinear optimization problem with goals of maximizing the grinding volume and minimizing the residual grinding volume according to the numerical model of contact force and material removal volume, and then plan the residence time of discrete points in each path and the distance between two adjacent parallel paths. The lifting and lowering of the grinding tool between the sub-surfaces are optimized by solving the nonlinear integer optimization problem. Experiments show that proposed algorithm can generate a full coverage grinding path. At the same time, the grinding amount can reach our expectation, the residual grinding amount is relatively average, and the grinding efficiency is high.