Basic Research Of Electrochemical Machining Based On Industrial Robot Platform

The six-degree of freedom joint industrial robot has the characteristics of good flexibility.It can be used in electrolytic machining of complex and difficultto-process material parts,which can effectively reduce the difficulty of cathode design and manufacturing,and has a good application prospect in aerospace,automobile and other fields.However,the series structure of jointed industrial robots makes it difficult to control its motion precision,which will lead to the fluctuation of electrode clearance in electrochemical machining,thus affecting the quality of electrochemical machining parts and limiting its further application in the field of electrochemical machining.Based on the above problems,this paper focuses on the influence of motion error of industrial robots on electrochemical machining process,including the following aspects:(1)According to the basic principle and characteristics of electrochemical machining,the electrode gap electric field model,electrode polarization mathematical model and flow field mathematical model of electrochemical machining were established.According to the known types of industrial robots,the D-H parameter table is constructed and the size of electrode gap is adjusted in the tool coordinate system.(2)Starting from the basic elements of electrochemical machining such as tool setting,machining,current detection,short circuit protection and electrolyte supply an electrochemical machining system based on an industrial robot platform is built.(3)COMSOL software was used to simulate the electric field and flow field in electrode gap.Electrode gap and machining voltage were used as variables respectively to study their influence on machining current density.The change of current density would affect the change of current in electrolytic machining circuit to some extent.According to the designed electrolytic machining system based on the industrial robot platform,the workpiece is processed electrolytically,the current value is collected through the current detection device to analyze the cause of the current change.(4)The traditional PID control and fuzzy PID control were used to carry out SIMULINK simulation of the distance between the electrode clearance,the parameters of PID controller were adjusted by the empirical trial and error method so that the current fluctuation of the experiment collection could be reduced as much as possible.