The Research Of Compliant Control Strategy For Burr Removing Robot's Based On 3D Printing Technology

With the improving development of industrial automation technology,how to simply and fast solving the problem of removing burr of mechanical parts while in the actual production process becomes the focus issue.Traditional manually burr remove method is no longer satisfy daily production demands.The common way for now is to use industrial robot for secondary processing.Because of the high cost and difficult development of industrial robot,most manufacturers can not afford it,so that makes our automatic burr removing technology is relatively low.Therefore,to research a new automatic burr removing technology which can instead of industrial robot to meet actual production process needs is very important.With sufficiently investigate and survey development and current situation both domestic and abroad,this article present a design proposal of desktop-class burr removing robot based on 3D printing technology after this article analysis the principle of 3D printing related technology,research the end effector's space liner interpolation algorithm in Cartesian coordinates and motion path generation method.This design fully used both similarities in mechanical structure,process management,motion planning,motor driving and etc.which saves plenty of R&D costing and development cycle for automatic burr removing equipment's development.This article discuss deeply for outside surface burr's physical characteristics of mechanical parts.By using projection analysis for burr's physical model and build mathematical expression for burr removing cutting force,the article looks for the relationship between burr removing cutting force and cutter feed displacement and relates the quality of burr remove for mechanical parts with cutter feed's status,and thus to get key factor of quality of burr remove for mechanical parts.By analyzing position-based impedance control model to design closed-loop control strategy for feed displacement while burr removing.It sets the standard outline information of mechanical parts as the original path.By measuring resistant force while cutting,and make margin calculation with expected resistant force.It can get feed displacement correction by feedback control,so that makes burr remove cutter stays a fixed depth of cut following mechanical parts burr edge.This implements burr removing robot's compliant control strategy and improves the outside surface quality of mechanical parts after processing.On the basis of theoretical research,it designs contrast experiment to find expected cutting force and impedance control model parameters.The accuracy and reliability of burr removing robot's design is verified by plenty burr removing experiment.The experiment result shows that the burr removing robot based on 3D printing technology can satisfy most of the operating environment.Meanwhile,the compliant control strategy presented by this article can effectively improve the mechanical parts' surface quality and efficiency after processing.