Polishing pressure investigations of robot automatic polishing on curved surfaces

摘要

In order to improve the quality of the robot automatic polishing on curved surfaces and ensure the constant polishing pressure during polishing process, the polishing platform was built and the polishing process was studied. According to the Preston equation and Hertz theory, the relation model between removal rate and polishing pressure was established. The importance of constant polishing pressure control was analyzed, and the model of polishing pressure control was established. At the same time, the main factors influencing polishing pressure were discussed and experiments were carried out. The results indicate that the generation algorithm of the position and posture for robot polishing tool, instead of the traditional complex teaching process on the robot, was proposed based on force-position-posture decouple control, which realizes the robot automatic polishing similar to experienced constant pressure manual polishing. Through the force analysis of the sensor measurement, the gravity compensation algorithm of the polishing tool was put forward, which was used to eliminate the interference caused by gravity during machining to accomplish the stable control of polishing pressure. During the automatic polishing process with constant pressure control algorithm, the consistency of polishing pressure was better than that of without force control. Not only is the machining allowance removal uniform, but also the surface quality is greatly improved. The experimental system platform can control the polishing pressure during the polishing process independently, automatically, and in real-time, and accomplish ultra precise, efficient, low-cost polishing on curved surfaces.