Research On Modeling Of Constant Force Polishing Robot And Welding Seam Defect Polishing Technology

In recent years,the rapid development of artificial intelligence skills has accelerated the process of intelligent manufacturing reform based on industrial robots.The application of industrial robots frees production workers from various laborintensive and dangerous work environments.In this paper,the welding process of the robot is studied with welding defects as the object.The application of the robot process library can greatly improve the production quality and shorten the robot debugging time in the production line.Based on this,this article starts from the product demand as the starting point,and carries out a process research on the treatment of weld defects.The process parameters are used to determine the optimal process parameters and a polishing process library is established.It provides a reference for the application of robots in grinding operations.The main research contents of this article are as follows:First of all,the surface defects generated during the welding of carbon structural steel are summarized and divided into two categories: missing welding and redundant welding materials.Welding material redundancy can meet the technical requirements by grinding.This paper analyzes the causes of this type of weld defect and proposes a working code for handling such weld defect.Secondly,based on the dual quaternion algebra,the mathematical model of the constant-force grinding robot is studied.The dual quaternion algebra has a more compact expression and high computational efficiency.The dual kinematics algebra was used to model the kinematics of the grinding robot,and an inverse kinematics algorithm based on the dual quaternion was proposed.The correctness of the algorithm and the superiority of this algebraic method were verified by simulation.Finally,the transformation of the grinding target position in the robot coordinate system was mathematically derived,and the mapping relationship between the positioning of the weld defect in the vision system and the grinding robot system was obtained.Then a material removal model was built during the grinding process,and the effect of a single abrasive particle on the material during the grinding process was analyzed.An equation was established based on the distribution of abrasive particles on the grinding tool to calculate the amount of material removed by the entire abrasive tool.The relationship between material removal depth and various process parameters and the relationship between the grinding time and removal depth during point grinding can be obtained.Finally,a two-factor orthogonal grinding experiment was designed for three types of surface defects.The effects of grinding force and feed speed on the grinding effect were analyzed.The optimal grinding process parameters were determined based on the grinding efficiency and a grinding process database was established.