Study On Automatic Polishing System And Robot Path Planning Of The Sink

With the developing of robot technology, the robot is applied to more and more industries. Traditional hand polishing is characteristic of heavy workload, trivial process and unstable polishing quality.And the poor working condition of traditional hand polishing does a great harm to workers.While the robot applied to automatic polishing of stainless steel sink can improve polishing quality and work efficiency, which has attracted the attention of some relevant enterprises.The subject researches the automatic polishing system and robot path planning of stainless steel sink.The major research contents include the following:(1) Based on the models of material removal rate and surface roughness,the influence of factors including polishing tool,abrasive belt speed,contact pressure and robot moving speed to polishing quality of sink surface are studied in theory.Conduct single factor test defining alumina abrasive belt as polishing tool, and respectively obtain optimum polishing process parameters such as abrasive belt speed, contact pressure, robot moving speed.(2) Combined with three-dimensional structure of sink,according to the principle of surface curvature consistency, the sink is divided into four districts:A, B, C and D, respectively corresponding to the upper surface, the R position, the side wall and the bottom of the sink. Determinate polishing tool type and surface quality of corresponding districts, and then establish polishing system platform based on the four districts above.(3) Establish D-H parameters table and link coordinate of the IRB6620 robot to analyze robot kinematics.The formulas of forward and inverse of robot kinematics are carried out by robot link transformation matrix and the joint angles in the inverse formula are non uniqueness, which to be a theoretical support for off-line programming.(4) Modify the simplified model of robot in MATLAB. Correct the diagonal vector by means of comparing with model of robot in Robotstudio. Resolve the work-space of robot by MATLAB after correcting the diagonal vector to have certain reference values for layout design of the work-space.(5) In the robot path planning, the path can be controlled via interpolating points whose position can be described in homogeneous coordinate. The function ikine is invoked to resolve the diagonal vectors of each joint of the robot moving to interpolation points and moving from interpolation points to destination, achieved that robot reaches the target point rapidly and successfully.(6) Researching into the path curve, path point and path program of the C district based on off-line programming. The conclusion is that a typical path curve is just selected when planing trajectory of the workpiece with the characteristics of C. Then make use of the Uedit32 soft to edit the program,included of adjusting process parameters rapidly,which improving programming efficiency extremely.