| At present, manual polishing has been occupying the dominating position for the complex Parts.Manual polishing makes unstable quality, low efficiency,and prolonged production lead time of die.As a result,it influences the marketable competing power. Cooperating polishing robot which can polishing complex Parts has been reasrched in this artile.Firstly, the Details overall structure of the Polishing robot design ideas and A simple analysis of the whole robot system design has been Introduced,A 7-DOF Cooperating polishing robot and the Structure of the Motion joint and the polishing head has been designed, Finally, a brief description of the entire transmission system of polishing robot has been carried out.Secondly, Aaccording to the establishment of the coordinate system-link from the coordinate system based Block Machine to the coordinate system of the Polishing head and the platform, the relative kinematic equations from the Polishing head to the platform were obtained, and at last Analyse the inverse solution .Thirdly, solve the work space of the polishing robot in detail. The work of the space robot polishing the definition of solution, the definition and the solution of the polishing robot's work space has been introduced and then in accordance with the structure of the robot analyse the Working Space of polishing robot Based on MONTE-CARIO Method.Lastly, modeling the polishing robot by using PRO/E, Then Importing it into into the software ADAMS and the result match with the Actual, The collaborative process simulation of the polishing robot has been operated. |
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