The Research On Man-Machine Collaborative Grinding Technology Based On The Structure Of Six Axis Force Sensing

With the tendency of “Industry 4.0” and “Made in China 2025”,China's industrial manufacturing is also rapidly developing and gradually transforming from “manufactured”to “intellectually manufactured”.Intelligent manufacturing is becoming more and more common in various fields,so the role of industrial robots is becoming more and more important.In this paper,used the industrial robot ABB as a platform,combined with the six-dimensional force sensing mechanism and the airport control system,the grinding and processing tasks are completed under the human-teaching human-machine collaboration.Firstly,the structure and entity of the six-dimensional force sensing mechanism are introduced.The principle of force sensing mechanism information acquisition and sensing is analyzed,and the software and hardware filtering methods to eliminate the zero drift are clarified.Then the force analysis based on grinding is performed.Using the software and hardware equipment,the calibration experiment is performed based on the grinding condition.Based on the experiment,the optimal force perception model is obtained by using the reconfigurable theory analysis.Secondly,a force model for surface grinding of a typical case is established.Grinding force in the grinding process is analyzed and solved in detail.The deviation of vibration in the contact phase of the machining process is thoroughly solved and then adjusted.According to the teaching mechanism and adjustment strategy of manpower teaching,the processing control strategy is analyzed.To get more accurate sensing forces,the gravity/torque compensation is calculated in detail.Then the robot control algorithm is adjusted with force compensation,and finally the control system simulation is carried out in Matlab.Then,the hardware and software components of the ABB robot,the programming methods of RAPID program and communications are introduced in detail.The client RAPID program is completed,including network connection module,I/O communication module,six-dimensional force sensing module,intelligent control.The communication method of ABB robot is introduced,the advantages and disadvantages of industrial Ethernet are analyzed and the communication is realized.The method of calibrating ABBrobots is introduced.The modules of the integrated control system and the development and implementation methods of each module are introduced.Final co-simulation in Visual Studio 2013 and Robot Studio 6.04 is finished.Finally,the experimental platform is installed and set up in Truman,and detailed descriptions of the various artifacts and tools required for the experiment are given.Based on the experimental platform,the six-dimensional force sensing mechanism and integrated control system are used to complete the experimental verification.And the analysis of the experimental results proves the feasibility of the processing method.