The Research Of Off-Line Trajectory Planning Of Polishing Robot For Surface Parts

With the rapid development of modern industry,more and more industrial robots are applied to industrial automation and intelligent manufacturing.At present,the polishing of surface parts is mainly completed by using traditional manual methods,which has the disadvantages of low efficiency and poor surface quality.The use of industrial robots can effectively solve these problems,Therefore,it is of great significance to study the automatic polishing of robots.In the robot automatic polishing system,how to write a robot motion program to achieve the optimal polishing trajectory is the key research content of robot automatic polishing.This paper focuses on the robot automatic polishing of the turbine blade.The related technology of off-line trajectory generation of the surface part polishing robot is studied.The off-line trajectory generation system of the surface part polishing robot is designed and verified experimentally.The main contents include:(1)Taking the steam turbine blade as the research object,the process of polishing the curved surface parts is introduced.Then the various factors affecting the surface quality of the workpiece during the robot automatic polishing process are analyzed.(2)The method of generating the surface polishing trajectory is studied,and a method of generating the polishing trajectory based on the improved section method is proposed.In the process of generating the touch line of the polishing tool,the idea of a minimum bounding box is used to determine the initial constraining plane,and the moving distance of the constraining plane is corrected according to the minimum moving distance that satisfies the residual height.An improved D-P algorithm is proposed to discretize the contact line of the polishing tool and extract the contact point of the polishing tool.Finally,the position and attitude data of the polishing tool are analyzed and calculated.(3)The transformation method of the workpiece location from the workpiece coordinate system to the robot base coordinate system is studied.The kinematics model of the KUKA robot is established using the D-H method,and the algebraic so-lution of inverse kinematics is studied.The robot polishing simulation and interference checking method in the UG environment are studied.The compositional structure of the KUKA robot control code is studied,and the knife site data is converted into a robot’s machining program.(4)An off-line trajectory generation software prototype system for surface part polishing robot is designed and developed.The theoretical research results and related algorithms are compiled into functions by using C++ language and UG/OPEN API function library,and corresponding functions are realized.The system can realize the functions of the generation of polishing knife site,machining simulation,interference check,and generation of robot machining programs.Finally,a robotic automatic polishing experimental platform is set up,and the feasibility of the system is verified by conducting a polishing experiment on the inner arc profile of the turbine blade.