Research And Application Of Robot Off-Line Programming Technology For Hardware-Grinding

Grinding and polishing of mechanical components are heavily utilized in various industrial robots.However,the traditional manual programming and teaching programming methods have not proven to reach the requirements of the grinding and polishing.More attention has been attracted by off-line programming technology due to its highly adaptability and flexibility.In this study,the characteristics of the grinding process for the robot off-line programming system have been used to study the following features within the process,such as parameters choosing of the component surface grinding and polishing,optimization strategy of the grinding and polishing trajectory,and robot singular point avoidance algorithm.To study the key factors of the grinding and polishing processes,which may affect the surface quality,geometric analysis method with abrasive distribution and material removal principle have been developed for the material removal model of the general surface grinding and polishing.The removal profile analysis algorithm with circular abrasive has been established based on this model.Further,the influence of the processing parameters on the removal rate of surface material has been systematically studied.Finally,a method of predicting surface roughness through BP neural network method has been proposed and verified by surface grinding and polishing.The analysis of these process parameters can be used as a theoretical guidance for the actual grinding and polishing processes.The drawbacks of grinding and polishing path in traditional robot programming has been studied,such as the uneven distribution of CL points,the fluctuation of curvature and the irrational path of grinding in trajectory.As for the velocity fluctuation in curvature change,an adaptive feed rate interpolation algorithm based on chord error has been developed and the rules of adaptive velocity algorithm has been improved,resulting in uniformity of velocity in trajectory planning.The optimization model of the uniformity of the contours of the grinding surface has been deduced and verified to determine the travel distance parameter,theoretical model for the travel distance in the path planning.The principle and method of singular avoidance in the process of grinding trajectory have been investigated for the singularity issue in the industrial robot trajectory planning.According to the existed singular separation and damping theory,the avoidance method with enhanced damping reciprocal has been proposed.Based on the simulation analyses of the damping error coefficient and the avoidance of the trajectory singularity,the method shows good practicability.The hardware grinding robot off-line programming system has been developed with the FrameWork platform.The software has been verified by the HSR-612 robots,and an actual phone shell has been fabricated,which confirms the practicability of the hardware programming technology of the metal grinding robot.