Development Of Blade Polishing Robot

The blade is an important part in power equipment,and its surface after milling has obvious milling tool marks.At present,enterprises generally use manual polishing to finish the blade,which not only has low efficiency,but also has poor consistency of the blade surface obtained by processing.According to the actual needs of an enterprise,this article developed a six-degree-of-freedom articulated industrial robot for blade polishing.The main research contents are as follows:(1)The overall scheme of the blade polishing system was formulated,a six-degree-of-freedom articulated robot and three polishing processing units were designed,and the working space of the robot was solved.Based on ANSYS,the body structure and main components of the robot are analyzed statically and modally.(2)The robot kinematics model based on the D-H method is established,the forward and inverse solution expressions of the robot kinematics are solved,and the dynamic recursion model of each joint of the robot is established by the Newton-Euler method,which is the robot control system.The development of the algorithm module provides a theoretical basis.(3)The electrical control cabinet of the robot is designed and built based on the Beckhoff CX5140 controller.Based on Beckhoff TwinCAT3,the robot control algorithm is designed,the user operation interface is developed,and the robot joint coordinate system and Cartesian coordinate system operation,status monitoring and other functions are realized.(4)A calibration scheme for robot kinematics parameter errors is designed.UG is used to establish the three-dimensional digital model of the blade,and the blade position trajectory is generated,which is converted into the machining code in the robot Cartesian coordinate system through post-processing.Finally,the robot machining trajectory is analyzed by ADAMS simulation to verify the accuracy of the robot machining trajectory Sex.