Research On Grinding System Based On Constant Force Output Device

In the processing industry,the polishing of the last process of parts processing is mostly done by manual.The purpose of this paper is to study a grinding robot based on constant force output device to replace the manual grinding of this process.The main contents of this paper are as follows:Firstly,according to the processing requirements of the grinding process,the constant force output device installed at the end of the grinding robot is designed,because the main executive component of the constant force output device is the buffer cylinder.The gas path is analyzed,and the compressed gas is discharged from the compressor to the buffer cylinder through the electronic pressure regulating valve.The mass equations of gas flow were constructed respectively.The force equation is obtained by force analysis of the buffer cylinder.The transfer function of the constant-force output is obtained by combining the flow equation with the force equation.Then,the research on control method of constant power output,the most widely used is the traditional PID control,but take long and will not be able to guarantee the parameters for the best,is to introduce the ideas of fuzzy control,fuzzy inference to obtain PID three parameters variation,combined with before setting the parameters of new controller parameters,To achieve the optimization of the system response curve.The quantification and scaling factor fuzzy PID control is set up,based on the experience of experts will cause limitations,the introduction of the improved particle swarm algorithm to optimize both,through constant iterative particle swarm algorithm to search the global optimal quantization factor and scaling factor,the optimized fuzzy PID control can achieve the best system response curve.Then,the kinematics model and trajectory planning of the robot are analyzed,and the forward and inverse kinematics model is firstly solved.Then,the trajectory planning of the grinding industrial robot of constant force outputters is carried out by using joint space trajectory planning.This method can avoid singularities in the planning process..The change of velocity and acceleration at each joint is relatively smooth in the trajectory planning using the quintic polynomial interpolation method,and the impact at each time point is also better improved.Finally,according to the previous theoretical research,the experimental platform of the grinding robot based on the constant force outputter was built.The experimental results of constant grinding force show that the fuzzy PID control optimized by improved particle swarm optimization algorithm has smaller variation range of output force and more stable,better force tracking effect and faster response speed.Next,a comparative polishing experiment was performed with and without a grinding system.Results Surface grinding system can effectively reduce the surface roughness of experimental materials and achieve the purpose of polishing parts.