Design And Path Planning Of Flexible Grinding Head For The Grinding And Polishing Of EMU Body

With the rapid development of rail transit in recent years,the market demand of EMU(electrical multiple unit)increases sharply.The grinding and polishing of the body of the EMU mainly depends on manual,which leads to the problems of high labor intensity,low production efficiency and unstable surface quality,and so on.Badly environment has a serious threat to the health of operating workers.It has become an inevitable development trend that robot replaces manual to finish polishing task.Aiming at the characteristics of EMU body,a polishing robot is proposed in this paper.Its flexible polishing head is designed and its path planning is carried out.Firstly,aiming at the grinding and polishing task of EMU body,a grinding and polishing robot system is developed.The design calculation and selection of the robot mobile platform is carried out.The structure of the high-precision flexible grinding head is designed.A threedimensional model of the grinding and polishing robot is established using SolidWorks software.The statics on key components of the high precision flexible grinding head is analyzed using finite element analysis software to satisfy the requirements of strength and stiffness.Secondly,the kinematic model of the grinding and polishing robot is established using DH method.The mathematical models of orientation description and coordinate system transformation of the robot are established.The forward kinematics and inverse kinematics of the robot are solved.The forward and inverse solutions of the kinematic equations of the robot are simulated and verified by the robot toolbox plug-in in MATLAB.Finally,the path of the grinding head is planned using Mastercam software.The grinding path is verified using Robot master plug-in in Mastercam software.The robot control code can be automatically generated.The robot control code is imported into the robot control cabinet to realize the automatic control of the robot.The grinding process parameters were studied by experimental methods,and the optimized combination between the grinding head speed and the grinding force during the polishing and polishing operation of the polishing and polishing robot system was determined.