Research On The Key Technology Of Flexible Polishing Of Robotic Airbags In Aluminum Alloys

Aluminum alloy materials have the advantages of high reflectivity,short production period,and lightweight design.Therefore,in recent years,they have been widely used in aerospace,military and defense fields such as space mirrors,missile ranges,and lidar systems.Due to the softness and low hardness of aluminum,the direct ultra-precision polishing of aluminum alloy materials has always been a research hotspot.Airbag flexible polishing is an emerging polishing technology with great development potential.It uses flexible airbags as a polishing tool to achieve high-efficiency and precise machining of workpieces in a certain precession mode.This paper combines the characteristics of the flexible processing of six-axis industrial robots and combines it with the flexible polishing of the airbag to carry out research on the key technologies of the flexible polishing of the aluminum mirror component of the robot airbag.The thesis first uses the data characteristics of the STL model to propose an automatic path planning algorithm for robotic airbag polishing;combines different path control parameters under different polishing processes to obtain the corresponding polishing path to adapt to different processing surface shapes,and has a high Versatility and adaptability.In addition,this article has conducted an in-depth discussion on the vertex normal vector calculation formula used in the algorithm,and finally concluded a weighting formula with better accuracy.Secondly,on the laboratory’s existing robotic airbag flexible polishing experimental platform,the airbag tool trimming platform equipment is designed and developed to achieve in-situ trimming of the airbag polishing head and workpiece rotation processing.The inposition airbag trimming function can directly trim the polyurethane polishing pad of the airbag,reducing the error caused by repeated disassembly and assembly of the airbag tool head;the platform rotation function can reduce the difficulty of path planning for rotating workpieces,and it can be used for complex workpieces.Polishing in different areas to reduce the generation of robot singularities.Then,according to the structural characteristics of the airbag tool,the four-point method was used to calibrate the position of the airbag spherical surface relative to the flange coordinate system,and the least squares spherical center coordinate fitting and the airbag Tool Central Point solution were completed.After analyzing the source of the error,a Tool Central Point error compensation algorithm was proposed to make up for the lack of accuracy of the fourpoint method,and the feasibility of the algorithm was verified through experiments.Finally,based on the existing robotic airbag flexible polishing system,a series of aluminum alloy polishing experiments were carried out.Based on the Taguchi orthogonal test method,the influence of processing parameters such as precession angle,down pressure,spindle speed and residence time on the removal rate of aluminum alloy material is analyzed,and the best processing parameters are obtained.Corresponding aluminum alloy polishing experiments have verified the reliability and stability of the aluminum alloy airbag flexible polishing technology.