The Trajectory Planning Of Industry Robot Abrasive Belt Polishing

In order to solve the problems of polishing on the complex free curved surface parts, such as low efficiency, poor accuracy, long process transfer assistant time and poor product consistency, a robotic abrasive belt polishing system is built on the base of ABB 4600 industrial robot and robot abrasive belt polishing machine and ancillary equipment which are designed by our self-developed. Besides, the kinematics of robot and the trajectory planning of industry robot abrasive belt polishing also have been analyzed and discussed throughly.In the first part of the article, an experimental platform of industry robot abrasive belt polishing system is built as the polishing technology of small bathroom products has required. Then the thesis moves on to study the robot abrasive belt polishing technology and its principles, which applied in the polishing force adaptive control method. In order to get the method, summarizes the polishing force control impact of motor current and the types of abrasive belt.Then, the paper gives a comprehensive analysis of kinematics problems of ABB IRB type 4600 industrial robots involved in abrasive belt polishing. Beginning with the kinematics problem of actual robot abrasive belt polishing, the paper discusses ways to descript and adjust robot pose, deduces kinematics equations for the polishing. According to the various links of the structure parameters and joint variables are presented, the equations are worked out for forward, reverse and axis configuration parameters solutions.Furthermore, Comparison of online teching programming trajectory planning, off-line programming trajectory planning and based on arc length optimization algorithm of off-line programming trajectory planning in the actual production situation as the starting point. Combined with robotic abrasive belt polishing trajectory planning involves the actual problems, analysis path planning method and strategy which is commonly used, such as parameter line method, Hilbert fill charging curve method and the section method, sum up and draw the based on NURBS curve and surface differential equation of arc length optimization algorithm and the software of the corresponding secondary development.Last but not the least, generated the polishing processing program by using common off-line programming trajectory method and besed on arc length optimization algorithm of off-line programming trajectory planning method for robotic abrasive belt polishing experiments. The difference of surface profile shape and roughness distribution of parts produced by different polishing processes and trajectory planning method has been compared. Analyzes and explains the root causes of the differences and verifies the rationality of arc length optimization algorithm.