Research On Key Technologies Of Five-star Seat Grinding Robot

At present,China still has a large number of manufacturing companies that use artificially-based grinding processing methods to process hardware.Not only does the quality and precision of the polished parts are difficult to guarantee,but also easily cause environmental pollution and physical and mental harm.Aiming at the above situation,Taking the grinding and polishing of five-star seat as the research object,designed a set of system for grinding and polishing of flexible belts based on six-degree-of-freedom robot,and the composition and path planning of the flexible belt grinding system are analyzed in detail and studied in depth in order to solve the problems faced by the traditional manufacturing industry.The researches are as follows:(1)The paper made an in-depth analysis and parametric design of the important components of the five-star seat robot polishing system.Focused on designing of five-star seat robotic gripper and flexible abrasive belt grinding system,The regional layout of the various processing surfaces of the five-star seat and the spatial layout of the grinding system were carried out.The factors affecting the quality of the grinding and polishing are analyzed.At the same time,an in-depth analysis of the implementation of key technologies such as automatic feeding,auto-adjusting and automatic positioning of the five-star seat robot.Finally,a set of abrasive belt grinding system was used to polish the various processing surfaces of the five-star seat.(2)The kinematics model of the robot is established by the D-H parameter method.The forward and inverse kinematics solutions of the robot are obtained.The kinematics simulation of the positive and inverse solutions of the robot is made by using Matlab,The robot joint drive diagram is obtained.The kinematics of the point to point of the robot is simulated by the five order polynomial interpolation method,and the continuous and no abrupt displacement,velocity and acceleration curves are obtained.It shows the stability and rationality of the established robot model.The simulation results verify the practical value of the grinding robot model,which provides an important reference for the working space,path planning and experimental research of the subsequent grinding robot.(3)The detailed implementation plan of five-star seat through online teaching and offline simulation is analyzed in detail.Through the grinding comparison experiment,the off-line programming method of RobotArt with higher grinding efficiency was selected to perform the polishing trajectory planning and experimental research of the five-star seat,Solved the technical problem of the grinding trajectory planning for five-star seats.Finally,used the trajectory code generated by off-line programming to the grinding of the five-star seat.The results show that the grinding robot system can obtain better quality and more stable grinding workpieces,The feasibility and practicality of the five-star seat grinding robot technologies were verified.In summary,A set of automatic five-star seat belt grinding system is set up,This flexible grinding system can provide users with safe and efficient grinding experience.