Cartesian coordinate robot polishing method based on stiffness matrix

A technology of rectangular coordinates and stiffness matrix, which is applied in the field of grinding, processing and inspection of industrial robots, and can solve problems such as unpredictable system deformation or force at the end, low cost, and failure to consider robot workpiece assembly errors, etc.

Inactive Publication Date: 2015-07-22
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

This method is low in cost, but does not consider the deformation of the robot itself and the assembly error of the workpiece, and the machining accuracy is low; the force control method with sensors mainly relies on the data feedback from the sensor to judge the force position at the end of the robot, and realizes real-time force position control.
This method cannot predict the possible system deformation or end force. Therefore, the sensor is required to be real-time and the communication of the grinding system to be fast, resulting in high cost.

Method used

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  • Cartesian coordinate robot polishing method based on stiffness matrix
  • Cartesian coordinate robot polishing method based on stiffness matrix
  • Cartesian coordinate robot polishing method based on stiffness matrix

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Embodiment Construction

[0032] The purpose of the invention of the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments, and the embodiments cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following embodiments.

[0033] A grinding method of a Cartesian robot based on a stiffness matrix, the Cartesian robot grinds

[0034] The device comprises a Cartesian robot 4, a grinding tool 2, connected to the Cartesian robot 4 and a grinding tool.

[0035] Force sensor 3 between tools 2 (see figure 1 ), including the following steps:

[0036] S1. Calculate the stiffness of each component of the Cartesian robot grinding system, including Cartesian robot 4, grinding tool 2, force sensor 3, and workpiece 1;

[0037] S2. Establish the static and dynamic stiffness matrices of the rectangular coordinate robot grinding system;

[0038] S3. Introduce the stiffness matrix ...

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Abstract

The invention provides a Cartesian coordinate robot polishing method based on a stiffness matrix. According to the method, as for the structural characteristics of a Cartesian coordinate robot polishing system, a polishing system stiffness matrix is built; on the basis of a traditional polishing model, dynamic and static stiffness matrixes of the Cartesian coordinate robot are introduced, the relation among the polishing force, polishing parameters, deformation and vibration are derived, and a polishing model based on the relation is built; force feedback information produced in the polishing process is used as input, by means of the amplitude, for obtaining system deformation and vibration in the polishing process, in the polishing model and a planning trajectory, the Cartesian coordinate robot polishing precision is judged, and references are provided for follow-up polishing parameter optimization.

Description

technical field [0001] The invention relates to grinding processing and detection technology of industrial robots, in particular to a grinding method of a Cartesian coordinate robot based on stiffness matrix. Background technique [0002] As one of the main means of machining, grinding is widely used in the manufacturing industry. At present, there are two main methods for realizing robot grinding processing: conduct a large number of grinding experiments, and use regression analysis to obtain a robot grinding model for a specific material; control the force of the robot end, and control the grinding tool while ensuring that the robot end is in contact with the workpiece. position and contact force between tool and workpiece. [0003] 1) Obtain the robot grinding model through regression analysis. The realization of this method requires a large amount of experimental data, and the grinding model obtained by this method can only be used for specified materials, and cannot b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B24B1/00
CPCB24B1/00
Inventor 邵明陈首彦张铁
Owner SOUTH CHINA UNIV OF TECH
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