Research On Polishing Technology Of Aspheric Workpiece Based On Industrial Robot

With the rapid development of science and technology, the application of aspherical components has become wider. At present, polish conducted by human is mainly used in the surface machining of the aspherical mold parts, which has a low processing efficiency and the surface accuracy. What's more, the quality of the product is poor, and the health of workers is harmed significantly by the polishing dust. Although the above shortcomings can be overcome by using the polishing machine, but it has not been widely used because of its restrictions on the movement space.Today, industrial robots, which have a wider range of motion and higher degree of automation has been used in all fields. Robotic polishing technology has gradually become an efficient automated polishing methods, which can be effective in various forms of polishing requirements. In order to obtain a high efficiency polishing method and a high quality of the aspheric surface polishing effect, based on FANUC LR Mate 200iD robot, a polishing test platform was set up, which can be used for polishing aspherical surface parts. What's more, the robot kinematics, the optimization method of polishing spot uniformity and the polishing path planning of the robot were also studied in this study.First, according to the processing requirements in aspheric workpiece polishing on polishing machines, such as tool feed rate, tool rotational speed, and feeding rate, a robot aspheric polishing system test platform was built based on the industrial robot, because of its flexible control characteristics and large moving space. The PLC controller was used to realize the communication between the polishing head control system and the robot, and the speed of the polishing tool at different curvature of the aspheric workpiece can be precisely controlled.Then, based on the Preston equation, the aspherical polishing motion model was established, and the velocity distribution of the polishing points in the polishing area was analyzed. The single track polishing experiment of different polishing tools and different polishing parameters was carried out by using the numerical control milling machine, and the key process parameters were determined by comparing the surface quality of the workpiece.In addition, combined with the robot kinematics theory, the LR Mate 200iD FANUC robot model was carried out to calculate the kinematics. The robot tool position and pose transformation problem were comprehensive study, and focuses on the analysis of single polishing track adjacent to the target at the tool coordinate position and pose transformation. Through the analysis of different polishing tool coordinate position and pose transformation characteristics under the kind of track, the polishing trajectory along the bus bar of rotation aspheric workpiece was proposed in this study. Aspheric polishing virtual workstation was established by ROBOTGUIDE to simulation the polishing path.Finally, according to the change of the curvature of the workpiece, the feeding rate on axis of the tool was adjusted to ensure the uniformity of the polishing spot area in different position of the workpiece, and the adjustment of the feeding rate on z-axis was obtained. Combine the key process parameters and the polishing spot uniformity, the optimization method to prepare the robot polishing process was obtained. After the experiment, the surface roughness of the aspheric surface was compared under different polishing conditions, the main reasons of the difference were analyzed, and the feasibility of the optimization method was also verified in this study.