Study On Cooperating Polishing Robot's Kinematics And Trajectory Planning

In recent years, with the development of industry, development of new technique makes the automation of the free-form surface of part processes come true, but the processes of precision machining such as grinding and polishing still depends mainly on the handwork of skilled mechanists. It becomes a weak line for the die and part manufacturing with high efficiency, low cost, short period and high quality. To improve the free-form surface accuracy, surface quality and processes efficiency, it researches and develops a polishing robot system for the processing of workpiece's free-form surface based on robotics in this paper.Be aimed at 7-DOF cooperating polishing robot designed by the members of subject, it introduces the principle of the processing system besides the openarchitecture adapted to robot control is presented, and the architecture of"PC+motion controller card+AC servo amplifiers+AC servo motors+sensors"is determined to composed of hardware system for robotic controlling, it chooses and designs the end actuator of polishing robot, uses PID controlling method for the core part of actuator polishing tool, tests that the control strategy is feasible through MATLAB software to simulate for the power controlling system.Base on the theory of D-H, we constitute the mathematic model of the robot for polishing the free-form surface,then an efficient solution of positive and inverse kinematics equations is also applied. This paper systemically studies the movement programming method for polishing tool,then based on the method of trajectory planning in Direction-parallel machining, presents the principle of automatic polishing processes. Meanwhile, the method of fitting and interpolation on the cubic spline of accumulating chord is applied to the controlling algorithm of automaticrobot polishing machining, and the controlling algorithm Real-time products the precision-controll path of polishing machining by establishment of algorithm parameters. Finally, in order to realize the continuously and coordinated movement of robot, the continuous-controll algorithm for arthrosis trajectory is proposed, which is based on controlling-mode of continuous path control.