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Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method

The invention relates to an automatic lapping and polishing system for a complex surface of a compliant control-based robot and a machining method. The automatic lapping and polishing system comprises an industrial robot, a worktable, a force sensor, a flexible lapping and polishing cutter, a signal conversion amplifier, a computer and a robot controller; the method comprises the following steps: performing machining trace planning before lapping and polishing a complex surface workpiece to obtain cutter contact point trace of the lapping and polishing cutter to obtain a surface machining cutter location point trace; converting the surface machining cutter location point trace into a code format program file which can be identified by the robot controller, and inputting the code format program file into the robot controller; positioning and clamping the workpiece to complete coordinate labeling and unification of a process system; and driving the robot to move according to a machining trace planning program file to drive the lapping and polishing cutter arranged on an end executor of the robot to perform contact machining on a machined surface. According to the automatic lapping and polishing system and the machining method disclosed by the invention, manual operation at a finish machining stage of the complex surface workpiece, especially a large-sized complex surface workpiece, can be replaced; labor strength and machining cost are reduced; and quality stability and quality consistency of a machined molded surface are increased.
Owner:SHENYANG LIGONG UNIV
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