Research On Force Control Polishing Technology Of Robot With Heterogeneous

Polishing operations are often used in the production processes of multiple types of workpieces in the optics,aviation,automotive,and sanitary industries,which can improve the surface quality of the workpieces and increase the yield of subsequent electroplating processes.Traditional single-robot polishing is suitable for workpieces with simple surface composition.For heterogeneous components with complex surfaces,the polishing blind area accounts for a large proportion.The dual robots work together in space and have high flexibility.It has gradually become one of the important solutions in the polishing field.One.According to the polishing mechanism,the contact pressure,that is,the stability of the normal polishing force at the contact point,is an important factor that affects the polishing quality.Therefore,this article studies the constant force control technology in the robot force control polishing,aiming at the constant force control in the polishing,Carry out the corresponding hardware design and software development.Firstly,the kinematics and control methods of the tandem robot are studied,and the polishing mechanism is designed accordingly and the experimental platform is built.For the six-degree-of-freedom industrial robot,its kinematics model is analyzed,and its motion control is simulated,which provides a hardware foundation for the study of motion control strategies in dual-robot collaborative processing.Next,analyze and process the output voltage signal of the force sensor.After filtering and denoising processing,the environmental vibration noise and electromagnetic interference are removed,and the power information is solved by the stable electric signal.Perform static zero point compensation on the measurement signal to remove the influence of the sensor's own zero point drift,and design a hybrid neural network compensation algorithm to dynamically compensate the zero point offset caused by the movement of the polishing equipment to obtain an accurate contact force.On this basis,the impedance model of the robot and its control strategy are studied,and the dynamic and steady-state performance of the constant impedance model and the adaptive impedance model are analyzed and compared.The impedance control principle of the robot polishing system is studied and the second-order impedance model is established.An adaptive impedance control algorithm combined with fuzzy control is proposed.The step output is simulated and the impedance control strategy is obtained with fast response and basically no overshoot.Finally,the control software is developed,the overall polishing system is debugged,the trajectory planning for the different components is carried out,and the dual-robot force position control is used as the realization method to carry out the surface polishing experiment of the copper alloy different components,and the fuzzy variable impedance force control polishing experiment,The preset force tracking effect is good,and the surface roughness of each point on the curved surface can reach within Ra0.2?m,which verifies the polishing processing ability of the developed robot force position control system.