基于Open CASCADE的机器人复杂曲面磨抛轨迹模拟再现∗

摘要

针对复杂曲面类零件型面的磨抛难题，提出了运用机器人进行自适应磨抛的方法。将机器人运动反解算法整合于Open CASCADE( OCC)软件平台自行开发了快速生成机器人加工程序软件，加工程序经由OCC软件生成磨抛轨迹以验证算法的正确性。最后将船用整体螺旋桨置为被加工工件，进行实际磨抛实验，运用最小二乘法对机器人作业时间作出了相应优化，并利用三坐标测量仪测得磨抛前后桨叶型面特征点位置偏差，数据表明，采用该方法整体优于人工磨抛工件型面许多，且磨抛效率提升明显，验证了机器人磨抛复杂曲面类零件的可行性与可靠性。%For the grinding problem of the workpiece with complex surface,proposed the adaptive robotic grinding methods. Combined the methods of robotic inverse solutions into the software platform of Open CASCADE to generate robotic machining program quickly,and generate grinding trajectory to verify the cor-rectness of the algorithm on the software platform of OCC. Finally,set the workpiece of the whole marine propeller,with the actual grinding experiments. To make the corresponding optimization of using the least squares for robotic operation time,using the CMM to get before and after characteristic points' position devia-tions of the surface,the data show, using this method is better than manual grinding,and improve the effi-ciency of grinding significantly,to verify the feasibility and reliability of robotic grinding on workpiece with complex surface.