Study On The Control Of Robotic Motion Of Mould Automatic Polishing

With the rapid development of automobile industry,electric industry,aeronautics and astronautics industry and some new high-tech industries,higher and higher requirements are made for quality and efficiency in machining die and mould with free-form surfaces.However,at present,these subsequent of precision machining as lapping and polishing,still mainly depend on the handwork of skilled mechanists,which have become a weak line for the die and mould manufacturing with low cost,short production cycle and high quality.Therefore,it is inevitable to study the theory and technology of automatic precision machining for mould manufacturing.Be aimed at five-axis joint robot designed by the members of subject,the open architecture 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; a set of control software under dyadic of human-computer interaction is developed out by making use of Visual C++6.0 and Windows as software platform,which is for robot automatic polishing processes.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 inverse kinematics equations is also applied.Without limiting the scope of robot movement in the foundation,we solve the problem of catastrophe of robot joint value caused by the multiple solutions for robot joint,it is demonstrated that the algorithms are validity and effectual by the experiments and satisfied the requestment that real-time motion controls.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 automatic robot 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.