砂带磨削机器人磨削曲面工件的工作空间及加工轨迹分析

摘要

The robot belt grinding was studied to overcome traditional grinding ’ s shortcomings such as creating harsh working environment and increasing labor-intensity. A 3P3R belt grinding robot was designed for curved surface workpiece grinding. The robot kinematics and workspace were analyzed, and then the roughly reachable workspace of this robot was obtained by using the numerical analysis method. By modeling the surface point of the workpiece to be machined, the reachability simulation analysis was carried out on the processing of machining surface points by the Monte Carlo method, and the robot posture and the processing trajectory were obtained while all the surface points to be grinded were closest to the Grinding wheel. The analysis of this approach can be used to judge whether this robot can machine the curved surface workpiece or not, and can provide guidance to specific workpieces’ ma-chining teaching programing, while providing a way of off-line programming.%研究了机器人砂带磨削加工技术，以克服传统磨削加工工作环境恶劣、劳动强度大的缺点。针对曲面工件的磨削加工任务，研究设计了3 P3 R构型的砂带磨削机器人；通过对该机器人运动学和工作空间的分析，应用数值分析方法得到机器人的大致可达工作空间；对待加工工件表面点进行数学建模，应用蒙特卡洛法对曲面工件的磨削加工轨迹进行了仿真分析，得到所有待加工表面点最接近于加工时的机器人姿态。分析结果不仅判断了工件是否具有可加工性，而且仿真分析的加工轨迹为工件加工的示教编程提供引导，同时提供了一种离线编程的途径。