Research On Key Technologies Of Hybrid Robots For Variable Pressure Free Surface Grinding And Casting

At present,the optical surface ultrasonic polishing technology has become a hot topic in various countries.This technology principle uses high-frequency ultrasonic vibration to cause the abrasive particles in the suspension to collide with the surface of the workpiece to achieve the purpose of material removal.The main contents of the article are as follows:(1)The three-dimensional model of the grinding and polishing robot was established.The structural characteristics of the hybrid grinding and polishing robot and the working principle of the polishing and polishing device were analyzed.The material removal model of the surface grinding and polishing was established according to the polishing mechanism,and the elliptical contact between the polishing head and the workpiece was analyzed.The pressure distribution of the region is solved by the axis vector expression describing the head position of the grinding tool.(2)The kinematics model of the grinding and polishing robot is established and analyzed,the position transformation of the coordinate system is analyzed,and the relationship between the programming point of the grinding head and the kinematic model is solved,and the rod length of the driving rod in different postures of the grinding head is solved.Solve the workspace and further solve the effective workspace.(3)This paper introduces the basic concepts of the research and development trajectory,the generation method of the research and development trajectory and the various analysis methods of the processing step of the polishing head.The research points of the grinding and polishing point in the processing direction of the polishing head are analyzed,and the research and polishing is designed in UG.The trajectory is simulated in MATLAB.(4)The static and modal analysis of the polishing device and the oscillating head were completed.The grinding and polishing device and the oscillating head were analyzed in ANSYS,and the static strength requirements of the polishing device and the oscillating head were verified.The corresponding modal analysis is carried out to obtain the natural frequencies and formations of the first six orders,and it is verified that the grinding and polishing robot does not resonate under the working condition.(5)The verification experiments of two research and development traj ectories are carried out.It is verified that the kinematics model of the research and development hybrid robot established in this paper is correct for the research and polishing trajectory.It is confirmed by experiments that the trajectory path can be realized,which proves that the research is mixed.The connected robot has the ability to change the pressure free surface to cast and throw.Through the research of this paper,the hybrid robot equipment and grinding and polishing device of this paper are explored to meet the processing traj ectory requirements of grinding and polishing.The experiment can realize the research and development of the traj ectory movement,and achieve the expected research purpose.A reference is provided.