Design and Analysis of a Compliant Parallel Polishing Toolhead

摘要

In order to improve the quality and to lower programming difficulty in automatic polishing, a compliant polishing tool-head mounted on the wrist of the industrial robots is designed. The 3-RPS compliant parallel mechanism is used to adjust the attitude of the tool while the pneumatic actuator to keep the force at a constant value. The 3-RPS mechanism parameters is optimized by multi-objective optimization model, with the goal of good dynamic performance. Then the control system was designed and the simulation of polishing system was performed by ADAMS and Simulink based on co-simulation. The kinematic data and working space of tool-head are collected during simulation. Also, to further evaluate the system performance, the trajectory planning of the industrial robot when using a rigid tool and the compliant tool to polish the curved surface is compared. The simulation results show that the mechanism is capable of tracing the polishing trajectory and the Control Strategy is effective. The comparison results show that the tool-head can be used in automatic machining process to polish the workpiece with a complex three-dimensional profile under the condition of poor trajectory interpolation precision.