Research On Force Deburring Operation System Of Grinding Robot Based On Force Feedback

In the production process,castings can produce flying edges and burrs to a certain extent.In the traditional manufacturing industry in the past,the manual removal of flying edges and burrs was repetitive and inefficient,resulting in uneven product quality.In robotic grinding applications,the commonly used position control inner ring no longer meets the needs of practical applications.This thesis incorporates a six-dimensional force sensor to bring accurate force control to the robot to meet the needs of contact work robots.This thesis develops a force feedback algorithm based on position control for a system study of a force feedback grinding robot for casting fly-edge burr removal applications.Firstly,the grinding force model in the grinding process of the robot end grinder is constructed,its force characteristics are analysed and the normal force constant robot grinding strategy for the grinding process is determined.And on the traditional impedance control mathematical model,the impedance control mathematical model of the robot arm force/position control in free space and force space is proposed.By analysing the positive and negative kinematic model of the robot,a trajectory correction method is proposed for the interference process between the end-effector of the robotic arm and the material to be ground,so as to briefly calibrate and compensate the normal force for the interference with the environment.Then,given the difficulty in deriving an accurate kinetic model of a precise six-degreeof-freedom industrial robot,which affects the force feedback effect of the impedance control model,this thesis proposes to build an impedance control model of a planar two-link to check the validity of the method.The dynamics model of the two-linked rod considering the external environmental factors and the damping effect that exists at the moment of interference with the environment is proposed to combine the external damping.Combined with the established impedance control mathematical model,the impedance control models of the two-link rod in free space and force space are constructed on MATLAB-Simulink,and the effects of the inertia matrix M,damping matrix B and stiffness matrix K of the impedance model on the steady state of the system are analysed.In order to simplify the model input ? of the impedance model,two optimisation methods for the model input ? are proposed.In view of the small velocity and acceleration in the actual machining,a specific value of the inertia matrix M is adopted to set the impedance control input of the system to simplify and realise the weakly coupled impedance control model.Secondly,by building the HP20 D assembly under 3D software and visualising the assembly work in MATLAB,the construction of a complete set of HP20 D force feedback simulation model in MATLAB is proposed to be completed using signal generator,discrete impedance controller and trajectory tracker,and the force feedback simulation experiment of external force disturbance during arc tracking is completed to verify the effectiveness of the algorithm in this thesis.Finally,the ROS communication driver of Yaskawa HP20 D was developed to complete the communication between the robotic arm body and ROS and realise the human-machine interaction of the robotic arm.And based on the robot arm body,combined with the ROS robot operating system,and assembled each hardware facility,the force feedback experimental platform of the robot arm was built.Debugging the hardware and software of the force feedback grinding system,and designing the force feedback experiment with impedance control strategy,completing the dragging demonstration experiment based on the sixdimensional force sensor and the force feedback grinding experiment,and verifying the effectiveness of the force feedback grinding through the relevant roughness instrument.