• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2025, Vol. 61 ›› Issue (11): 131-139.doi: 10.3901/JME.2025.11.131

• 机器人及机构学 • 上一篇    

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基于弹塑性接触的机器人曲面抛光材料去除模型

程顶义, 陈满意, 昌明帅   

  1. 武汉理工大学机电工程学院 武汉 430070
  • 收稿日期:2024-04-22 修回日期:2024-08-18 发布日期:2025-07-12
  • 作者简介:程顶义,男,1997年出生,硕士研究生。主要研究方向为机器人复杂曲面抛光。E-mail:2728606450@qq.com;陈满意(通信作者),男,1966年出生,博士,教授,硕士研究生导师。主要研究方向为智能制造、机器人复杂曲面加工等。E-mail:cmy121@163.com;昌明帅,男,1998年出生,硕士研究生。主要研究方向为机器人复杂曲面抛光。E-mail:cms3012021@163.com

Material Removal Model of Robot Surface Polishing Based on Elastic-plastic Contact

CHENG Dingyi, CHEN Manyi, CHANG Mingshuai   

  1. School of Mechanical and Electrical Engineering, Wuhan University of Technology, Wuhan 430070
  • Received:2024-04-22 Revised:2024-08-18 Published:2025-07-12

摘要: 机器人在曲面抛光过程中,为了适应工件表面曲率的变化,刀具姿态需灵活多变。而刀具姿态的变化会影响磨粒在刀具-工件接触区域的压力分布和速度分布,使得材料去除深度的准确预测变得复杂。为此,提出一种结合刀具姿态和材料去除机理的机器人曲面抛光材料去除建模方法。该方法利用Hertz接触理论和刀具姿态建立球形磨头与曲面接触区域的压力分布与磨粒速度分布;针对如何计算磨粒造成的材料去除深度这一难点,结合磨粒特性与弹塑性接触理论建立单颗磨粒压力与压痕深度的关系;在此基础上,结合压力分布、速度分布、磨粒特性和压痕深度得到单位接触长度的材料去除深度,最后将其沿着抛光轨迹积分建立材料去除模型。仿真与试验结果表明,材料去除模型预测值与试验值最大相对误差为4.92%,平均相对误差为2.61%,验证了该建模方法的可行性。该模型的建立可为机器人曲面抛光过程中的精确控制提供理论基础,对工件材料去除的均匀性和抛光质量的改善具有重要意义。

关键词: 机器人曲面抛光, 刀具姿态, 磨粒特性, 材料去除模型

Abstract: In order to adapt to the change of workpiece surface curvature, the tool orientation needs to be flexible during robot polishing. However, both the pressure and velocity distribution of abrasive particles in the tool-workpiece contact region are subject to the changes of tool orientation, which will make the accurate prediction of the material removal depth complicated. Therefore, a novel material removal modeling method for robot surface polishing combining tool orientation and material removal mechanism is proposed. Firstly, Hertz contact theory and tool orientation are used to establish the pressure distribution and abrasive particle velocity distribution in the contact area between ball-end tool and curved surface. Aiming at the difficulty of calculating the material removal depth caused by abrasive particles, the relationship between single abrasive particle pressure and indentation depth is established by combining abrasive particle properties and elastic-plastic contact theory. Subsequently, the material removal depth per unit contact length is obtained by combining both the pressure and velocity distribution, abrasive particle properties and indentation depth. Finally, the material removal model is established by integrating along the polishing tool trajectory. The simulation and experimental results demonstrate that the maximum relative error between the material removal model prediction value and the experimental value is 4.92%, and the average relative error is 2.61%, which verifies the feasibility of the modeling method. The novel model can not only lay a theoretical foundation for the precise control of the robot surface polishing, but also is of great significance to the uniformity of workpiece material removal and the improvement of polishing quality.

Key words: robot surface polishing, tool orientation, grain feature, material removal model

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