基于机器人平台的固结磨料工具抛光叶片路径规划

刘纪东; 徐成宇; 朱永伟

doi:10.13394/j.cnki.jgszz.2021.5.0016

基于机器人平台的固结磨料工具抛光叶片路径规划

doi: 10.13394/j.cnki.jgszz.2021.5.0016

南京航空航天大学机电学院, 南京 210016

详细信息

作者简介:
刘纪东,男,1995年生,硕士研究生。主要研究方向：机器人抛光加工、精密超精密加工。E-mail: 18242289349@163.com

通讯作者:
朱永伟,男,1967年生,教授、博士生导师。主要研究方向：纳米材料的制备与应用、精密超精密加工等。E-mail: meeywzhu@nuaa.edu.cn

中图分类号: TG73;TG58
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出版历程
- 修回日期: 2021-06-07
- 刊出日期: 2021-10-28

Path planning for blade polishing with fixed abrasive tool base on robotic platform

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

摘要

摘要: 将6R机器人与固结磨料抛光技术相结合，建立基于机器人的固结磨料磨头抛光系统；应用弦高误差法与改进的等残留高度法规划发动机叶片抛光路径，基于UG二次开发实现路径规划算法，并提取刀位点数据；结合机器人运动学逆解算法与抛光工艺参数实现其抛光路径离线编程，并在机器人固结磨料磨头恒压抛光试验平台上进行叶片抛光试验验证。试验结果表明：叶片表面平均粗糙度R_a为0.240 μm，粗糙度标准差为0.039 μm，抛光压力误差为±0.7 N。机器人固结磨料磨头抛光叶片获得的表面质量一致性较好。
- 路径规划 /
- 固结磨料磨头 /
- 机器人抛光 /
- UG二次开发
Abstract: The 6R robotic and the fixed abrasive polishing technology were combined to develop a robotic-based fixed abrasive polishing system.The constant chord-height error method and the improved constant residual-height method were used for planning blade polishing path.Based on the secondary development of the software UG, path planning algorithm was realized and the data of cutter points was extracted.Combining with the inverse kinematics algorithm of robot and polishing process parameters, the off-line programming of polishing path was realized, and the blade polishing test was verified on the constant pressure polishing test platform of robot consolidated abrasive grinding head.The main results show that the average surface roughness of the blade is 0.240 μm, the standard deviation of the roughness is 0.039 μm, and the polishing pressure error is ±0.7 N. The high consistency of surface quality of blade was obtained by applying the robotic-based consolidated abrasive grinding head.
- path planning /
- consolidated abrasive grinding head /
- robotic polishing /
- UG secondary development

HTML全文

图 1 叶片抛光轨迹刀位点提取流程

Figure 1. Flow chart of blade polishing path tool location extraction

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图 2 走刀步长计算示意图

Figure 2. Schematic diagram of calculation of step length

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图 3 凹面 Concave b 凸面 Convex图3 走刀行距示意图Fig.3Schematicdiagramofcalculationofpathdistance

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图 4 路径

Figure 4. Path

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图 5 机器人关节坐标系

Figure 5. Robotic joint coordinate system

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图 6 机器人固结磨料磨头恒压抛光试验平台

Figure 6. Constant pressure polishing test platformfor robotic-based consolidated abrasive grinding head

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图 7 部分叶背抛光轨迹程序

Figure 7. Partial blade back polishing trajectory program

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图 8 机器人固结磨料磨头抛光叶背现场

Figure 8. On-site polishing of blade convex with robot consolidated abrasive grinding head

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图 9 叶背抛光效果图

Figure 9. Polishing effect picture of blade convex

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图 10 叶背抛光区域表面粗糙度值R_a数据

Figure 10. Surface roughness of polishing area of blade convex

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图 11 抛光压力图

Figure 11. Polishing pressure

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表 1 IRB4600-60/2.05机器人D-H参数

Table 1. IRB4600-60/2.05 robotic D-H parameters