Research On Trajectory Planning Technology Of Grinding And Polishing For Heterogeneous Parts Of Industrial Robot

In the hardware bathroom,auto parts and other industries,different parts of the irregular shape,grinding and polishing in the grinding with low efficiency,poor processing accuracy,automatic grinding and polishing the characteristics of poor.In order to improve the automatic grinding and polishing efficiency and grinding and polishing precision of the workpiece,This paper to the school-enterprise cooperation in the development of the belt grinding machine,cloth round polishing machine and ancillary equipment for the processing platform,And based on ABB's IRB4600 six-axis industrial robot,research on grinding and polishing trajectory planning of industrial robot.The paper first introduces the hardware conditions and the relevant parameters of the equipment,complete the establishment of the work piece coordinate system and the tool coordinate system.From the grinding and polishing process involved in the kinematic problems.Through the analysis of connecting rod parameters,the establishment of rod model and other steps,derived the kinematic equation of the robot,finish the solution of the kinematics equation of the robot is completed.In order to solve the problem of attitude adjustment in processing,the advantages and disadvantages of Euler angle and RPY angle are discussed.The transformation between the two and the quaternion is studied,and the attitude of robot grinding and polishing is solved.Secondly extract the three-dimensional model of the heterogeneous component,complete topology reconstruction and data extraction classification.Based on this,by analyzing the advantages and disadvantages of the two regional methods,combined with the morphological features of the isomeric components.Method of determining the regional boundary based on the principle of transverse growth is proposed.Programming and realize boundary judgment and surface area division.And then on the basis of the regional division,plan the polishing trajectory for each area match the regions with the trajectory planning method,combined with the characteristics of the robot processing and the corresponding process,the surface of the surface grinding and polishing trajectory planning and experiment.According to processing efficiency and surface roughness and other indicators,analysis of experimental results,to complete the surface of thedifferent parts of the grinding and polishing trajectory planning,and then complete the relevant software.At last,combined with existing equipment and the system framework,to planning of the station and the process sequence,According to the actual layout of the overall system modeling and simulation,to achieve from PC simulation to processing experiment docking.Perform club calibration,compensation of robot space motion error.After the compensation is completed,perform the whole experiment of grinding and polishing,Analyzes and expounds the root causes of the differences,and verifies the rationality of the results.