| This paper presents multi-robot coordination polishing control system,this system is composed by a six DOF parallel robot and a parallel motion platform, terminal buffered polishing tool system. Through the coordination and compensation between the two robots, the complex free surfaces can be polished effectively. Thought analyzing the forces between the robot and the workpiece, the terminal buffered polishing tool system was designed and was verified its applicability by PROE and ANSYS. Through the use of multi-robot coordination arc algorithm, developed a series-parallel robot circular interpolation scheme, eventually verified the feasibility of this buffered device program through VC++program and experiment.The multi-robot coordination polishing control system used in this experiment increased by a parallel motion platform compared to the traditional single robot polishing system, the angle between polishing tool and workpiece and posture have been processed well, so good cooperation intelligent behavior can be showed. The terminal buffered polishing tool system used in the experiment can effectively improve its ability to control force, this approach not only improves the polishing efficiency also enhances the flexibility of the system. |
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