Review on the Key Technologies of Complex Surfaces Polishing Based on Robots

doi:10.3901/JME.2024.07.001

Abstract

Abstract: The polishing process is one of the important methods to enhance the surface quality of parts and precision. Complex curved surface polishing technology based on the industrial robot system, with the advantages of flexibility, small land occupation, high precision and low cost, is gradually mature and replacing the manual polishing and the grinding based on CNC machine tools. By analyzing the principle of grinding and polishing based on industrial robots, the key problems affecting the accuracy of robot grinding and polishing are introduced: the planning accuracy of the grinding and polishing process path and the force control accuracy. The former focuses on the balance between processing efficiency and accuracy, while the latter focuses on the accuracy and consistency of processing. From these two aspects, the research purposes, characteristics and achievements of machining path planning methods and compliance force control strategies for robotic grinding and polishing systems are summarized. The machining path planning of robot grinding and polishing system is mainly based on the application and improvement of the commonly used machining path planning methods in the CNC machine tool grinding and polishing, and there are a few machining path planning methods proposed according to the characteristics of the robot. The strategies of passive compliance, active (impedance control, force/position hybrid control) and intelligent control have proposed to address the force control challenges of grinding and polishing based on robots; their principle, research and application are compared and analyzed. After that, the possible future development directions are suggested. It provides a direction guidance for researchers in this field.

Key words: polishing and grinding, polishing robot system, tool path planning, compliance force control, active-passive compliant, intelligent control

CLC Number:

TP242

DENG Jianxin, YUAN Bangyi, HUANG Qiulin, DING Dukun, XIN Manyu, LIU Guangming. Review on the Key Technologies of Complex Surfaces Polishing Based on Robots[J]. Journal of Mechanical Engineering, 2024, 60(7): 1-21.

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