Research On Robot Manipulator For Complex Shaped Parts Deburring

Industrial robots with attached highly technical value and wide application in many fields are the important components of the sophisticated equipment manufacturing industry.Especially the development and application of advanced industrial robots become an important characteristic of the level of national science and technology innovation and sophisticated equipment manufacturing industry,also they are the significant strategy demands of the development for national science and technology.In the field of advanced manufacturing,it usually requires the operational equipment with the capacity of five-face machining in one setup in order to achieve efficient and dexterous machining,where a five-axis operational robot with a reasonable arrangement of the degree of freedom(DOF)can meet such requirement.The compound robot manipulators can combine the advantages of the serial robot with those of the parallel robot,and they have received considerable attention on research applications.Faced with the needs of complex shaped parts deburring with highly dexterous operation orientations and multi-faces deburring in one setup,the 5-DOF compound operational robot manipulator is a good solution for the selection of the manufacturing equipment.For the demands of the complex shaped parts deburring,a 5-DOF compound operational robot manipulator with a wide range of dexterous operation workspace and highly dexterous operation orientations is developed in this dissertation,then research on mechanical design,kinematic and dynamic modeling,dexterity analysis,trajectory planning,tool path planning,actual building of mechanical system and motion control system,as well as operational deburring experiments for this developed robot manipulator is conducted.For the mechanism design and kinematic and dynamic modeling of the developed compound operational robot manipulator,the structure of this robot manipulator is designed and proposed.The kinematic model and dynamic model of the developed robot manipulator are established,and an appropriate set of closed-form solutions with a unique solution is proposed to address the inverse kinematics problem,providing the basis model for subsequent research.In terms of the dexterity analysis of the developed compound operational robot manipulator,a dexterity analysis method based on the spatial mapping envelope surface is proposed to analyze the dexterous operation performance and operational ability of this robot manipulator.The structural parameter factors and the corresponding theoretical basis of design and optimization which influence the dexterous operation characteristics of the developed robot manipulator are analyzed.The graphically reachable workspace and dexterous workspace of the developed robot manipulator are solved,respectively.In the aspects of the trajectory planning for deburring task requirements of the developed compound operational robot manipulator,a multiobjective smooth trajectory planning method,with unequal time interval lengths and four objective functions,namely,travel time,total energy involved in the motion,joint jerks,and joint accelerations,is proposed to obtain the best found joint trajectory.These objective functions can be taken comprehensive adjustments into account according to different deburring task requirements.The proposed trajectory planning method can plan more smooth trajectories with different control shapes for different deburring tasks.Additionally,an approach is proposed to calculate the dynamic load-carrying capacity(DLCC)of the developed robot manipulator,and the dynamic load-carrying capacity of the experimental platform of this robot manipulator is tested.For the experimental platform setup building and the operational deburring experiments of the developed compound operational robot manipulator,the mechanical system and the motion control system are built,respectively.The actual geometric structure dimensions of the robot manipulator prototype are calibrated,and the repeatability and accuracy of the position and path of this prototype are tested.A tool path planning research is conducted to address the position and orientation of the operational tool planning and the layered operational deburring planning.A set of operational deburring experiments for experimental deburring disc of automobile hub,experimental performance verification of reachable operation orientations of the experimental platform,and experimental deburring for multifaceted edges of automobile steering booster housing are conducted to verify the superiorly operational performance and the deburring ability of the developed robot manipulator.