The Design And Realization Of Automatic Glass Grinding System Based On Robot

Glass grinding process is very important in the production of glass products, which is one ofimportant factors that affect product appearance and quality. How to achieve high efficiency,high quality of glass grinding to meet the need of human beings becomes key problems withrapid development of manufacturing.Based on a large number of date, references and documents, and combined with thedemands and status of glass grinding, this paper set out to design an automatic glass grindingsystem based on robot. From three sides as following: hardware composition, software control,key technology, this paper researches the glass grinding system comprehensively andsystematically. It designs an automatic glass grinding system based on robot, and it constructsthe basic theoretical framework of force feedback control during robot grinding.The main content is listed as following:1) Automatic glass grinding system based on robot was designed. Composition and workingprinciple of system were introduced in the paper. Software of system was developed with robotlanguage VAL3, which integrate functions of calibration of tool system, signal control, pathmanagement and production monitor to realize product safely and conveniently.2) This paper presents the mechanical structure of robot, programming method,communication mode and the control algorithm of robot. And it analyses kinematics equation ofthe robot by D-H method and deducts the Jacobian matrix according to the transformation matrixof links, then utilize the condition num to evaluate the manipulability of robot workspace.3) Considered the process of glass grinding and the characteristics of trajectory, this paperresearch on the path problem of grinding type that robot holding the artifacts. According to thecharacteristic that the direction of robot end-effect is always same as the trajectories’ tangentdirection, the paper get the result of grinding path which is based on the pattern of CPM motionmode.4) The paper focuses on the grinding force control problem of the robot. Keeping the robotwith constant contact force, force feedback was used to increase the position accuracy of robotduring grinding operation and force outer ring soft control strategy was put forward. Based onthe closed-loop control principle of force feedback, this paper designs a force detection device to monitor the grinding force. And regard the contact force as the information sources of the actualposition error during end-effect under environmental constraints.5) Experiment of glass grinding was done. The results of the grinding experiment showed that robotcan overcome the infection of surface quality result from the position error of glass loading or unloading by thecontrol strategy of force feedback. The orthogonal experiments and single-factor experiments havebeen done of glass grinding, then the best process factor and the importance of the factors wasfound.