Research On Robot Parameter Calibration And Offline Programming For Grinding

Industrial robot was born in the United States in the last century 60’s. The application of industrial robot improves the production efficiency, reduces the management cost, makes the product quality more secure, makes the workers work environment improved, and the robot won’t be tired, it can work long hours, the robot becomes a good friend and helper in human life and work.The robot, abrasive belt machine and related auxiliary equipment applying for kitchen tools, hardware parts, plumbing parts has become one of the major applications of industrial robots. As the aircraft engine blade material for high temperature alloy steel, if the use of ordinary tool machining, tool wear and tear, processing efficiency is low, high processing costs. In recent years, the use of robot grinding blades in foreign countries has been successful cases, however, this technology is not mature in china. The robot, belt machine and other auxiliary equipment of air launched machine blade casting blank in the process of grinding to achieve the requirements of blade surface size precision. The technology is mainly related to the abrasive belt grinding process, model of reverse remodeling and detection, hybrid force / position control, robot calibration and r obot off-line programming problems. This paper focuses on the study of the following two issues. This paper introduces the present research situation of robot polishing, parameter calibration and off-line programming. According to the structure parameters of RX160 robot and its zero position, the coordinate system of DH bar is established, and the forward and inverse kinematics equations of the robot are obtained; The MATLAB software is used to make the positive and inverse solutions, and the parameters of the robot are compared. In the process of calibration, the calibration results of the calibration model and the position error calibration model are compared, and the advantages and disadvantages of the model are pointed out. In the calibration basis for improving the robot absolute position accuracy on, combined with the abrasive belt grinding technology and robot trajectory planning principle and application robotmaster soft.