Design Of Blade Polishing Robot And Research On Path Planning

Blades play a pivotal role in power equipment,directly affecting its performance and efficiency.Generally,blades need to be polished with abrasive belts to achieve the required dimensional and shape accuracy.The current machining solutions mainly include specialpurpose machine tool polishing and robot polishing.However,blade polishing machine tools have high cost and insufficient scalability.The articulated robots used in traditional robot polishing have limited load capacity and relatively weak stiffness.To improve the precision and efficiency of blade polishing,a special robot for blade polishing is developed on the basis of the existing machining equipment.The main research content is as follows:(1)The robot polishing system scheme is planned,and a special blade polishing robot composed of a four-degree-of-freedom motion unit and a two-degree-of-freedom polishing unit is designed.The main parts and complete machine of the robot are checked based on the finite element method.(2)A robot kinematic model based on the D-H method is developed,and the forward and inverse solution models for robot kinematics are solved.Robot workspace is analysed.Robot dynamics models are derived using the Lagrangian method.It provides a theoretical basis for the development of control system and dynamic simulation.(3)A post-processing software is designed,which can convert the normal vector information of the blade traj ectory into the joint angle information and NC program of the robot’s cooperative motion.Carry out three-dimensional modeling of the blade,analyze the law of grinding error generation and control it.Finally use simulation to analyze the robot’s motion process,and verify the correctness of the robot’s post-processing algorithm.(4)The basic structure of the robot control system is devised.Based on the experiment,the constant pressure polishing system of the robot is designed,Based on Simulink simulation,the control system of the constant pressure grinding unit is analyzed.The main control system of the robot is designed based on TwinCAT3.1.The correctness of the algorithm of the control system is verified by comparing the sampling with the theoretical motion curve.