Research On Key Technologies Of Force Feedback Teleoperating Robot For Casting Grinding

Teleoperation robots help to solve the safety problems of dangerous environments,the high cost of reaching remote environments,scalar problems.And it is a hot direction in the field of robotics with broad prospects.In the industry,casting grinding is mostly done by manual due to its complexity,which not only harms workers,but also is very inefficient.To this end,this thesis conducts corresponding research on remote operation force feedback robot for casting grinding,and the main research work is as follows:Firstly,after understanding the current situation of casting grinding and remote operation robots,the laboratory equipment Geomagic Touch Device and ROKAE XB7 robot were selected as the master and slave of the remote operating system.The D-H parameter method was used to establish the coordinate system of the master-slave equipment,the forward kinematics of the master-end operator were modeled,and the forward and reverse kinematics of the slave-end robot was modeled.The Monte Carlo method was used to calculate the working space of the master and slave ends and analyze it.Secondly,aiming at the problems of the main operator’s working space was too small and the master-slave working space mismatched in the remote operation casting grinding operation,a mapping method for area coverage was proposed,which could achieve the goal of the master-slave working space covering the slave by establishing the master-slave connection for multiple times.At the same time,in order to control the slave robot to operate more flexibly and safely,the relative attitude mapping method and the scale mapping method were designed.The simulation of the designed method was carried out,and the results showed that the mapping method achieved the intended purpose.Then,building an experimental platform of the remote operating system.The Geomagic Touch device and the ROKAE XB7 robot were selected as master-slave devices.The Touch Device and ROKAE robot were connected to the PC upper and lower controller respectively,while the upper and lower controller were connected through the Ether CAT communication interface,meeting the TCP/IP protocol.After building the experimental platform,the experimental verification of the designed area coverage and other mapping methods was carried out,and the results showed that the main operator could accurately control the slave robot to complete the corresponding actions.Finally,in order to increase the operator’s sense of presence in the process of remote operation casting grinding operation and improve the smoothness of operation,the main operator was realized with force feedback function and simulated virtual environment.Aiming at the problem of main operator hand shake caused by the violent alternating force feedback from the end during the grinding process of castings,a main hand damping working mode was designed,and the main hand damping force was increased to reduce the jitter by increasing the main hand damping force through the program.The simulation of the designed method showed that the damping mode could successfully weaken the jitter of the main operator.