Research On The Deburring Robot For Machine Parts With Non-circular Contours And Force Compensation Control Strategy

After casting,forging or cutting work,the machine parts will form various burrs,which do harm to the quality of the parts,service life and safety.With the development of high-precision manufacturing,the deburring process is gradually being concerned.There are many kinds of burr-removing technology,such as mechanical deburring method,abrasive deburring method,and electrochemical deburring method and so on.Then the choice of deburring technique depends on integrated factors,such as the characteristics of the machine part,burr size,the cost and efficiency.As the research object,the cycloid hydraulic motor housing is special for it has two non-circular contours to be deburred.So at present,the traditional manual burr-removing method is used in this case.Because the manual deburring method has few demand of the machine part.But this manual method turns out to be inefficiency and low quality.To meet the developing trend of automation production,a new suitable deburring solution is needed.Based on the analyzed characteristics of the cycloid hydraulic motor case,a deburring robot for machine parts with non-circular contours is designed.This paper has finished tasks including the complete mechanical structure design,modeling and simulation of the system,control strategy study and design,building of the prototype and experiments at last.Firstly,on account of the characteristics of cycloid hydraulic motor housing,the requirements of the deburring equipment have been disc ussed and a new deburring robot for non-circular machine parts is designed.Secondly,the specific mechanical structure design of four of the robot kinematics mechanisms is done,including the mechanical design,component selection,and the three-dimensional modeling in Pro/E software.Thirdly,the modeling and simulation of compensation axis subsystem have been conducted to test the uniaxial control characteristics.Physical model and control simulation model of the compensation axis have been respectively built in AMESim software and Matlab/Simulink software.Then,the force compensation control strategy of the deburring robot has been studied.Considering the actual applying conditions,the force compensation control strategy using the ordinary PID control exits some deficiency.Then some more advanced and suitable control strategies have been dicussed correspondingly.At last,a prototype of the designed deburring robot is completely built.Then a serie of experiments to deburr the cycloid hydraulic motor,as well as the uniaxial closed-loop control experiment have been conducted.Experimental results show that this deburring robot and its force compensation control strategy are feasible and effective.They can meet the continuous,uniform deburring requirements well.