Polishing Force Modeling And Control Of The Five Axis Parallel Polishing Robot

With the development of science and technology, polishing as the lastprocessing operation directly affects on the appearance and life of products, and itbecomes more and more important. As the influence factors of polishing are verycomplex, based on the Preston Equations, the removal functions of the polishing arededuced. The polishing pressure of the five-axis parallel polishing robot is tried tomaintain a constant to improve the polishing quality.Firstly, the various affecting factors of polishing are introduced, and then basedon the Preston Equations, the removal functions of the polishing of the straight-linetrajectory and the the Archimedes spiral trajectory are deduced. Next, the evaluationindicators are given according to which the trajectories are optimized throughMatlab simulation. Secondly, the components of the polishing platform areintroduced in which the permanent magnet synchronous linear motor completes thepolishing feed movement and the Motor spindles drives the polishing disc tocomplete the cutting action, and then the dynamic model of the polishing platformis established. As the polishing pressure is generated by the displacement of thelinear motor, in order to achieve a constant polishing pressure, the modle of thelinear motor is established and its current loop and speed loop are designed. As thepolishing pressure and the displacement of the linear motor are coupling, thepolishing platform needs force and position hybrid control, so its force loop andposition loop are designed. Next, the model of the polishing platform is establishedby Matlab/Simulink and the simulation of which the power controller and positioncontroller use a conventional PID controller is gaven and through analyzing thesimulation results, the fact that the overshoot is large and the stabilization time islong is found. In order to improve the control performance, the expert PIDcontroller is designed, which well solutes the defects of the PID controller and laysthe theoretical foundation for further experimental work.