工业叶片磨抛加工过程接触控制优化

应用机器人磨抛技术对叶片进行磨抛加工过程中,由于非零逼近速度和不连续动态特性等因素使得磨抛加工接触过程存在力振荡与力过冲问题,严重影响叶片表面加工质量和系统稳定性。针对此问题,文章提出了一种磨抛加工过渡过程的优化振动抑制方法。以机器人砂带磨抛技术为研究对象,在输入整形技术的基础上引入正负交替的脉冲序列,设计出改进具有负输入的整形器,优化控制系统的性能。为验证所提出方法的有效性,应用MATLAB建立仿真分析模型,并采用工业机器人与磨抛加工装置开展实验。结果表明,所提出的改进方法可以实现磨抛加工过渡过程的平滑过渡,减少系统响应时间延迟和加快响应速度,具有较强的鲁棒性和稳定性。

Optimization of Contact Control in Grinding and Polishing Process of Industrial Blades

During the process of grinding and polishing blades using robot grinding and polishing technology,the problems of force oscillation and force overshoot exist in the contact process of grinding and polishing due to non-zero approaching speed and discontinuous dynamic characteristics,which seriously affects the blade surface machining quality and system stability.In view of this problem,this paper proposes an optimized vibration suppression method for the transition process of grinding and polishing.Taking robot abrasive belt grinding and polishing technology as the research object,based on the input shaping technology,positive and negative alternating pulse sequences are introduced to improve the shaper with negative input and improve the performance of the control system.In order to verify the effectiveness of the proposed method,the simulation analysis model was established with MATLAB,and experiments were carried out using industrial robots and grinding and polishing equipment.The results show that the proposed improved method can achieve a smooth transition of the grinding and polishing process,reduce system response time delay and accelerate response speed.Robustness and stability.