Research On Dual-station Modular Robotic Grinding System

With the increasing demand for high-efficiency and high-precision production in the industrial manufacturing field,robots are more and more widely used in the manufacturing industry.Robot grinding can not only improve production efficiency,reduce production costs,but also improve the accuracy and stability of the grinding process to a certain extent.Based on robot grinding technology,this study explores in depth the structural design,control method and trajectory planning of robot grinding system from three aspects.Firstly,in terms of structural design,a dual-station modular mechanical structure and its layout method are proposed.From the analysis of requirements,robot system design,analysis and selection of key hardware of grinding system,analysis of each component of the system and workflow,a dual-station modular robot grinding system is designed.Secondly,in terms of control,the control method of dual-station modular robot grinding system is deeply analyzed.It mainly includes: industrial computer control system of dualstation modular grinding robot,PLC control system of rotary worktable and gantry-type manipulator,and adaptive control method combining grinding system,force control system and vision system.In order to improve the stability,safety and accuracy of the grinding system in motion,this study explores the trajectory planning.The trajectory planning design in joint surface space and plane Cartesian coordinate space are studied respectively.Furthermore,a B-spline curve interpolation trajectory planning method based on quadratic programming is proposed to achieve a more ideal working effect of the grinding system.Finally,kinematics and dynamics simulation of grinding robot are carried out.Firstly,according to D-H method,robot joint link coordinate system is created to solve the forward and inverse kinematics results of robot;then,based on the solution results and trajectory planning design,kinematics simulation of robot is carried out to obtain the motion relationship curve of each joint;then,dynamics simulation of robot is carried out to obtain the torque curve of each joint.The simulation results show that the motion and torque of each joint of the robot are continuous,and the relative error of the simulation values is within 5%,which indicates that the simulation results have high reliability.The research provides guidance for the design of robot grinding system.