复杂曲面机器人磨抛位姿优化与刀路规划

doi:10.3901/JME.2022.03.284

机械工程学报 ›› 2022, Vol. 58 ›› Issue (3): 284-294.doi: 10.3901/JME.2022.03.284

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复杂曲面机器人磨抛位姿优化与刀路规划

罗来臻, 赵欢, 王辉, 李祥飞, 丁汉

华中科技大学数字制造装备与技术国家重点实验室武汉 430074

收稿日期:2021-03-11 修回日期:2021-09-09 出版日期:2022-02-05 发布日期:2022-03-19
通讯作者: 赵欢(通信作者),男,1983年出生,博士,教授,博士研究生导师,上银优秀博士论文银奖。主要研究方向为机器人智能化加工装备与技术。E-mail:huanzhao@hust.edu.cn
作者简介:罗来臻,男,1998年出生。主要研究方向为机器人磨抛工艺规划。E-mail:laizhenluo@hust.edu.cn;王辉,男,1998年出生,硕士研究生。主要研究方向为视觉刀纹检测与机器人自适应磨抛加工。E-mail:wanghui147@hust.edu.cn;李祥飞,男,1990年出生,博士后。主要研究方向为机器人视觉伺服与力控制。E-mail:lixiangfei@hust.edu.cn;丁汉,男,1963年出生,博士,教授,博士研究生导师。主要研究方向为数字化制造与机器人技术。E-mail:dinghan@hust.edu.cn
基金资助:
国家自然科学基金（52188102，52090054）与湖北省自然科学基金（2020CFA077）资助项目。

Pose Optimization and Tool Path Planning for Robotic Grinding of Complicated Curved Surface

LUO Laizhen, ZHAO Huan, WANG Hui, LI Xiangfei, DING Han

State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University ofScience and Technology, Wuhan 430074

Received:2021-03-11 Revised:2021-09-09 Online:2022-02-05 Published:2022-03-19

摘要/Abstract

摘要： 近年来，以工业机器人为执行体的机器人磨抛由于其灵活性好、通用性强等特点正逐渐成为复杂曲面磨抛的发展趋势。在机器人磨抛加工过程中，刀具路径点常以曲面上曲率及法线方向为导向进行划分，但尚未考虑机器人实际运动姿态变化对磨抛路径光滑性产生的影响，且可能存在工件与工具干涉问题，因此难以保障最终加工精度。为此，提出了以磨抛姿态变化为约束并光顺干涉处姿态的规划方法。首先，以机器人末端磨抛姿态变化作为刀位点划分阈值，综合考虑其他非法线方向的位姿变换，减缓了刀具路径点之间的姿态变化。然后，在干涉处改变刀具姿态，并以等参数圆进行范围性光顺从而解决干涉问题。最后，综合姿态变化约束和干涉刀位点的姿态光顺，规划出一条光滑无碰撞的机器人磨抛路径。利用机器人砂带磨抛系统对航空发动机叶片进行磨抛试验，结果表明，所提规划方法的关节角速度变化平缓，刀具路径光滑性更好，磨抛后叶片轮廓度满足-0.03~+0.05 mm公差带要求，表面粗糙度由Ra>3.2 μm提升至0.2472 μm，验证了所提规划方法的有效性。

关键词: 机器人磨抛, 刀具路径, 姿态光顺, 干涉, 等参数圆

Abstract: In recent years, robotic grinding with industrial robots as the executive body is gradually becoming the development trend of complex curved surface grinding due to its flexibility and versatility. In the process of robotic grinding, according to the curvature and normal direction on the surface, the tool path points are usually divided. However, the influence of the actual movement posture of the robot on the smoothness of the grinding path is not considered, and there may be interference between workpiece and tools. Therefore, it is difficult to guarantee the final machining accuracy. Therefore, a planning method that takes the change of the polishing posture as a constraint and smoothes the posture of the interference is proposed. Firstly, the robot's posture change are used as the threshold for dividing the tool position points, and the posture changes in other illegal line directions are considered, which slows down the posture changes. Then, interference problem is solved by changing posture at the interference point, and perform range smoothing with isoparametric circles. Finally, the posture change constraint and the posture smoothing of the interference tools are combined to plan a smooth and collision-free robot grinding and polishing path. The robotic abrasive belt grinding system is used to grinding experiments on aero-engine blades. The results show that the proposed method has smooth changes in joint angular velocity and better tool path smoothness. The contour of the blade after grinding meet -0.03~+0.05 mm tolerance zone, the surface roughness increases from Ra>3.2 μm to 0.247 2 μm. The effectiveness of the proposed planning method is verified.

Key words: robotic grinding, tool path, smoothing posture, interference, isoparametric circle

中图分类号:

V261
TP24

罗来臻, 赵欢, 王辉, 李祥飞, 丁汉. 复杂曲面机器人磨抛位姿优化与刀路规划[J]. 机械工程学报, 2022, 58(3): 284-294.

LUO Laizhen, ZHAO Huan, WANG Hui, LI Xiangfei, DING Han. Pose Optimization and Tool Path Planning for Robotic Grinding of Complicated Curved Surface[J]. Journal of Mechanical Engineering, 2022, 58(3): 284-294.

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复杂曲面机器人磨抛位姿优化与刀路规划

Pose Optimization and Tool Path Planning for Robotic Grinding of Complicated Curved Surface

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