Research On Flexible Polishing Technology Based On Complex Curved Surface Robot

Curved elements are widely used in all walks of life because of their special profile characteristics,such as aviation,vehicles,chemicals(aero engine blades,automotive wheel hubs,mixers)and other important fields,the shape accuracy and surface quality of curved parts directly affect the performance of the workpiece.Polishing has therefore become an indispensable machining process.At present,the polishing processing of curved parts in China mainly relies on manual operation to complete,the work form is single and time-consuming,the working environment is relatively poor,the factors affected by the technical level of workers are greater,and the surface consistency of the workpiece after processing is poor.This paper summarizes the existing polishing methods and their existing problems by consulting a large number of literature materials,and combines the existing robot automation control and soft control technology to carry out research on the soft polishing technology of the robot based on curved elements of the aluminum alloy,and the main research content is summarized as follows:(1)Developed and designed an automated polishing system based on industrial robots,and introduced the selection of the main hardware equipment inside the system,and independently designed a new type of flexible polishing tool for active and passive soft control,so that the tool can realize the automatic polishing treatment of the surface of the curved component under the cooperation of the robot.(2)By installing a force/torque sensor between the end of the robot and the polishing tool,the contact force information between the polishing tool and the outside world is perceived,and the "zero drift" value generated by the polishing tool after installation and the effect of the gravity of the tool itself in the motion process are compensated in real time.(3)On the basis of robot kinematics,the robot polishing trajectory planning based on the STL(Stereolithography)model is proposed,and the position and attitude information of the discrete polishing point are obtained by the row tangent method,and the posture of the polishing tool at the end of the robot is controlled to ensure that the polishing tool attitude is always along the normal direction of the discrete point of the surface.(4)Analyze the characteristics of the designed soft polishing mechanism,combine the analysis of the robot motion process,establish the active and passive soft control model of the polishing mechanism and the robot,and take the method of system identification to obtain the key parameter information in the control model.Under the control structure of the inner ring of the force outer ring position,the force controller is designed based on PID(Proportion Integration Differentiation)control and internal mode control theory,and the actual control effect is simulated in Simulink based on the actual control problems.In summary,the research and application of aluminum alloy surface polishing technology based on industrial robots have great value in theoretical research and practical production applications.