Studies On The Technology Of Path Planning In Automatic Grinding And Polishing Die And Mould With Free-form Surfaces

Based on a large number of references,data and documents,a comprehensive comment is made on the present situation and the development of the technology of precision grinding and polishing die and mould with free-form surfaces by robot,and this paper presents key technology of grinding and polishing die and mould with free-form surfaces by robot,which includes the movement programming method for grinding and polishing tool and the method of grinding and polishing tool path generation.The main content is listed as following:Firstly, this paper presents the mechanical components and the principle of a robotic grinding and polishing precision machining system,and analyses emphatically the robot's kinematics equation by D-H method.Secondly,based on the movement and control of grinding and polishing robot,this paper presents the movement programming method for grinding and polishing tool,introduces the principle and characteristics of both transverse movement programming method and longitudinal movement programming method systematically,demonstrates that,transverse movement programming makes grinding and polishing tool move in a 3-D space of two line movements and a writhe movement,longitudinal movement programming makes grinding and polishing tool move in a 2-D space of one line movements and a writhe movement,so longitudinal movement programming needs less number of degree of freedom and is much easier to avoid movement intervention and mechanic singularity,and then,reaches the conclusion that the performance of longitudinal movement programming method is better than that of transverse movement programming method in grinding and polishing free-form surfaces by robot.Finally,this paper presents a method of tool path generation on automatic precision machining for free-form surfaces with the longitudinal movement programming,the process of the method is as fllow:after tool path discretized,by coordinations of the discrete points inputted directly and utilizing ability of the system,smooth treatment and linear interpolation are made directly by the system, and...