Studying On Simulation And Motion Control For Polishing Die And Mould With A Robot

Robot-assisted die and mold polishing is one of the most major ways to realize the automation of die and mold polishing, it is of great significance for improving polishing efficiency, ensuring product quality and reducing labor intensity.This paper made a research on the 3-D solid shaping, path generation, polishing motion simulation and motion control of robot polishing system based on the achievements in Robot-assisted die and mold polishing research at home and abroad. With Visual C++ and OpenGL and OOP method, a simulation and motion control system for polishing die and mould with a robot was developed in the light of the progress of computer hardware and software. A control system with principal and subordinate architecture was constructed; PC is used as upper computer, multi-axes motion controller MCT800F4 is used as lower computer (core chip: TMS320C31). Upper computer was used for the design of software interface, 3-D solid shaping of robot and tool, the import of the DXF graphics file of work-piece, the compilation of NC code, interpolation, the computation of robot inverse kinematics and motion simulation; lower computer was used for motion control according to the computed trajectory data from upper computer.Following works were done in this dissertation:1. Research summary: summarize the development status, research contents and development tendency of Robot-assisted die and mold polishing at home and aboard.2. System structure design: introduces the hardware and software structure, system function and system class hierarchy.3. System theory study and programming: make a research on key technology about 3-d solid shaping and motion simulation, DXF graphics file exchange interface, NC code compiling and interpolation, MCT8000F4ABSTRACTprogramming structure and the realization of motion control of worktable;4. System integration: integrate the control interface, function modules, DSP master program and controlled object into an entirety to realize the polishing simulation and motion control.5. System experiment: test and verify the system performance through an example and point out the function characteristic and the problems to be solved in the future.Robot is very suitable for automatic polishing because of its flexible. The work made in this paper lays a foundation for the future study of robot-assisted die and mold polishing.