Research Resarch On Robot Grinding Device For Complex Surface Parts

With the continuous development of automation technology,the surface processing quality requirements of complex curved parts are getting higher and higher.However,the traditional processing is harmful to the human body,and it is difficult to guarantee the surface quality of the parts.Grinding by the robotic grinding device can increase production efficiency and reduce the harm of the working environment to the human body while ensuring the surface quality of the parts.Based on industrial robots,this paper studies the grinding processing device of complex curved parts robots.The main contents include:(1)Explain the research background and significance of the subject,analyze and summarize the shortcomings of the abrasive belt grinding technology and the advantages of the robot belt grinding technology to determine the main research contents of this subject.(2)Structural design of grinding device for complex curved parts:analysis of the structure of the grinding device system,design of the belt grinding machine,and then design of the internal clamping jaw clamp of the grinding robot;taking the ER20-C10 robot body as an example,The selection and calculation of the performance parameters and control system of the robot belt grinding system were carried out.The analysis of the KEBA controller showed that the designed robot belt grinding system meets the performance requirements.(3)Kinematics analysis of ER20-C10 grinding robot:Based on transformation and link parameter transformation formula,based on this equation the forward and inverse solution model of robot kinematics is established.The working space of the abrasive belt grinding robot is simulated by Matlab software.The results show the maximum working radius is 1.5m,which satisfies the working requirements.The initial pose of the robot is taken as an example to analyze the kinematics.The results show that the forward and reverse solutions are correct.(4)Grinding trajectory planning of complex curved parts robot:calculation of the joint space trajectory planning of abrasive belt grinding robot by cubic interpolation polynomial,parabolic interpolation polynomial and fifth interpolation polynomial;trajectory planning simulation through Matlab Robotic Toolbox,and then using the ER-Factory which is modern engineering and more mature simulation software to verify the theoretical results.Comparing the two trajectory planning results,the error trends of the two software trajectory planning are basically the same.(5)Grinding process analysis and path planning of complex curved parts robot:According to the faucet abrasive belt grinding process and combined with the status of the internal jaw type pneumatic clamp to divide the faucet grinding processing area is divided;based on the fifth interpolation polynomial,The ER-Factory engineering simulation software is used to plan the grinding path,and the existing equipment platform is used to achieve realize the production of the physical parts of the faucet to verify hhe operation performance of the robot belt grinding device is verified,which provides a reference for the same type of product processing.