Research Of Force Control Of A Grinding And Polishing Robot Based On Complex Curved Surface

The application level of automation technology is a symbol of a nation’s manufacturing technology. Nowadays, processing of the free surface parts with complex curved surface in the manufacturing industry is mainly finished by manual processing of skilled workers who working in poor environment, what resulting in the poor quality and low efficiency. The automatic grinding and polishing system with robot is of profound and lasting significance to improve production efficiency and reduce labor intensity.This thesis takes Shenyang Institute of Automation Chinese Academy of Sciences, Beijing institute of automaton aviation materials institute cooperation project "The Technology of Automatic Grinding and Polishing Based on Complex Curved Surface for Transparent Part" as the background, conducted a study on design and implementation of automatic grinding and polishing robot control system especially focus on the force control method.The paper described the domestic and foreign research status on grinding and polishing robot system at first, combined with the polished object built a platform with a KUKA robot as the main subject with other hardware components and the communication system.The system identification of grinding system is required to get the mathematical model before Constant control of grinding and polishing force. The article took the least squares method and particle swarm optimization algorithm respectively for system identification of the grinding and polishing system and got the identification model.The main content of this study is how to maintain the grinding force constant, a Fuzzy PID controller, a Dual-port Inter Mode controller and a RBF Sliding Mode controller were applied for force control system simulation and experimental to solve the problem. The RBF Sliding Mode controller achieved the requirements finally.The pressure on the contact area distribute uneven when the workpiece surface curvature change sharply. In view of this situation, the paper introduced the application of Hertz contact force equation to describe the application of the Hertz contact force on the contact area for the purpose of achieving a constant grinding and polishing pressure. The simulation of the contact pressure in the process of grinding and polishing changing with some factors showed that the radius of curvature of the workpiece is the main factor what influenced contact pressure.