Construction And Research Of Complex Surface Polishing System Based On FANUC Robot

With the development of technology and economy, the application of complex surface such as aviation blade steam turbine, artificial joints, high-grade faucet, new furniture has become wider and wider. And the requirements of complex surface quality are getting higher and higher. At present, most of the domestic manufacturers use the method of ordinary grinding machine artificial grinding for the complex surface grinding and polishing. This kind of processing has many drawbacks, such as labor intensity is big, processing yield is low, and the processing environment is bad and great harm to the human body. In order to solve the above problems, based on FANUC LR Mate 200 iD six-degree-of-freedom robot , a complex surface grinding and polishing system was set up, which has machine vision system and can be used for automatic loading and unloading. Furthermore , the human-computer interaction, the robot kinematics, and complex surface polishing path automatic planning of the robot were also studied in this paper.First of all, in order to realize the automatic production, the adjustable feeding speed, and adjustable the speed of the tool in the complex surface grinding and polishing, the experimental platform of the complex surface grinding and polishing system of the robot was built based on the industrial robot, because of its large movement space and flexible control. The control station of the test platform is PLC, which can receive sensor signals, control tool head module, and communicate with the industrial robot for data. And a friendly human-computer interface for the system was designed, which can achieve both manual and automatic processing mode, real-time monitoring system working status.Secondly, in order to increase the flexibility of grinding and polishing system processing capacity, the machine vision system was added on the grinding and polishing system. According to the site work environment and identification accuracy requirements, machine vision image acquisition hardware platform was set up. And the Halcon software is used to filter the noise,threshold segmentation and edge detection of the workpiece image. Based on the preprocessing result, the workpiece feature information is extracted and the parts are classified and identified. The recognition result is output to the PLC so as to generate the corresponding polishing path. The addition of the machine vision system allows the grinding and polishing system to simultaneously process a variety of workpieces, reduce the auxiliary time of operation and increase the flexible processing capacity of the system.Then, the kinematics of FANUC LR Mate 200iD industrial robots in grinding and polishing system was analyzed comprehensively. According to the description method of robot position and attitude, combined with the robot D-H parameters, the kinematics equation of the robot was deduced. According to the above kinematics calculation, the pose expression of each polishing point on the complex surface is obtained. And the GUI interface was written by Matlab. The processing path and pose information were written into the LS file and transformed into the TP trajectory to achieve automatic planning function.Finally, the virtual workstation of complex surface grinding and polishing system is established by Roboguide simulation software, and the simulation of the working path of the robot is carried out. According to the test requirements, the total control program of grinding and polishing was written,and the grinding and polishing trajectory was generated by the key process parameters of grinding and polishing. The actual operation of each function of the test system was coordinated, and the surface quality of the workpiece under different grinding and polishing conditions is analyzed. The feasibility of replacing the traditional manual grinding with the complex surface robot grinding and polishing system was verified.