Research On Real-time Control System For Off-Line Programming Trajectory Of Robot Deburring Through Force-feedback

Residual burrs on mechanical parts not only affect the performance,but also lead to accumulated errors on parts during the subsequent processing.Nowadays,traditional manual deburring methods fail to meet the requirements.As a replacement of manual deburring,industrial robots will effectively reduce costs,improve production efficiency and ensure the quality of production,and the robot off-line programming can effectively overcome the defects of robot teaching programming such as low efficiency,low precision of trajectory generation,and difficulty in generating complex trajectory.However,due to the blank size and positioning errors,there will be a certain deviation between off-line programming trajectory and the actual situation.This paper has put forward that based on the off-line programming trajectory of robot deburring,and combined with force sensor feedback data,the real-time control on deburring system can be realized through constant force.The system can not only correct trajectory in real time,but also adjust the feed speed of robot according to the burr distribution,effectively improving the machining precision and efficiency.This article’s main research content is as follows:Firstly,the description of the robot rigid posture,the representation of mathematical model and the forward and inverse kinematics principle of robot are studied.This paper mainly introduces the method of generating off-line programming trajectory of robot deburring,generates the deburring off-line programming trajectory,and verifies its correctness.Secondly,research on gravity compensation based on information collected by force sensor is done,and the normal and tangential contact force of robot motion are separated.The displacement of normal constant force control strategy based on impedance control model and the speed of tangential constant force control strategy is established,and the displacement and speed control strategy based on constant force are formed.Thirdly,the experimental platform of robot deburring is established.The hardware system of the experimental platform is composed of three parts:the robot body and its control system,the data acquisition system of the six axis force sensor,as well as the cutting tool system.The control of the hardware system is integrated into the host computer through QT programming,and modular form is used to control the system.Lastly,the experiment of the robot deburring cutting with teaching trajectory for expected cutting force is designed,and the initial expected cutting force is obtained by changing the feed speed of the robot.Through the experiment of the robot’s normal displacement control strategy,the relatively better inertial parameters,damping parameters and stiffness parameters are obtained.According to the experimental parameters,the robot deburring constant control experiments with off-line programming trajectory is accomplished,and the feasibility and validity of the system are verified.