The Research Of Robot Adaptable Grinding Large Wind Blade By Impedance Control

Industrial robots play an important role in industrial automation.When grinding large-sized workpiece,workers are in dangerous and poor environment and the surface consistency can not be ensured.Therefore it is necessary to apply industrial robot to grinding large-sized workpiece instead of human.There is large error between workpiece and theoretical model,which is caused by workpiece's large manufacturing error and weak rigidity.If the workpiece is grinded by the robot with offline programming trajectory,the grinding effect is not ideal.What's more,it may cause damage to workpiece,the grinding tool,and even the robot.The main task of this research is to study the impedance control strategy,and apply it in robot grinding wind blade.The purpose of this application is to improve the surface tracking effect of the grinding robot,reduce the impact force to the robot and grinding tool which is from the wind blade,improve the grinding effect.The main content and innovation of this research is as follows:(1)The study on impact of robot impedance control is carried out.Through the theoretical analysis of impedance control contacting environment model,a fuzzy variable impedance control strategy is put forward.Through the simulation of MATLAB Simulink tool box and the experiments of the force control platform,verify the robot effector can accelerate the convergence of position and reduce the environment's impact force,when the fuzzy variable impedance control strategy is adopted.(2)The parameters selection criteria is obtained by conducting the experiments on surface tracking of robot impedance control.An experiment is carried out to analyze the advantages and disadvantages of the force tracking variable impedance control strategy which is proposed by Seul Jung.(3)Impedance control strategy is applied to wind blade robot grinding system.The application reduces the impact force to the robot and grinding tool which is from wind blade,improves the robot surface tracking effect,and improves the robot grinding effect at the same time.