Research On Surface Fitting Method And Contact Force Control Strategy Of Polishing Power Head

Burr has always been an adverse factor which affects the performance and life of mechanical parts,deburring operation with high dust concentration is and bad working environment,and accurate contour tracking and contact force control is needed.There are also low contour tracking accuracy and insufficient dynamic performance of contact force control about robot automatic deburring.Aiming at the complexity of polishing workpiece surface,research on the surface fitting method and the accurate tracking control of the contact force,it is helpful to accelerate the widespread use of robot polishing technology in practical production.To overcome the influence of the machining tolerance and the clamping error on the grinding operation,Research on the method of generating the surface path.Based on the combination of impedance control,using adaptive impedance control is proposed to ensure the constant normal contact force by adaptive impedance control.The fuzzy control theory is introduced to improve the response speed,and reduce the overshoot and the frequency of oscillations.Firstly,this thesis summarizes the characteristics and current situation of the impedance control and fuzzy adaptive control of the contact force tracking control strategy.Secondly,modeling the kinematics equation of manipulator with D-H method,to solve the forward kinematics and inverse kinematics.research on the algorithm of 5 polynomial function interpolation and the problem of bottleneck interference,the algorithm can well fitting the surface,and the working process stability,ensure the contact force of the control system to provide premise basis for dynamic tracking control.Lastly,the impedance control characteristics and parameters are studied,and the simulation results show that the adaptive impedance control can suppress interference brought uncertain factors to ensure good contact force of constant control.Combined with fuzzy control,adjusting the impedance parameters online to improve the efficiency and quality of the polishing robot.