A comprehensive active and passive flexible one-dimensional variable force grinding and polishing device and control method

Abstract

The invention belongs to the technical field of intelligent processing and manufacturing, and particularly discloses an integrated active-passive compliant one-dimensional variable force grinding andpolishing device and a control method. The integrated active-passive compliant one-dimensional variable force grinding and polishing device comprises a linear module servo motion platform, a mountingflange, a limiting plate, a position and orientation sensor, a speed-adjustable compliant grinding and polishing mechanism and a controller, and the linear module servo motion platform is used for driving the grinding and polishing mechanism to perform linear motion; the mounting flange and the limiting plate are mounted on a base of the linear module servo motion platform, and the position and orientation sensor and the speed-adjustable compliant grinding and polishing mechanism are installed on the limiting plate; and the position and orientation sensor is used for measuring position and orientation of the one-dimensional variable force grinding and polishing device and sending the position and orientation to the controller, a force sensor is arranged between the compliant grinding and polishing mechanism and sliding blocks, the force sensor is used for collecting a contact force signal and send to the controller which can calculate speed control quantity, and the speed-adjustable compliant grinding and polishing mechanism is driven to move by rotation of a servo motor according to the speed control quantity. According to the integrated active-passive compliant one-dimensional variable force grinding and polishing device and the control method, the contact status of a abrasive belt and a workpiece can be adjusted in real time, and a stable and compliant grinding and polishingprocess is realized.

Description

technical field

[0001] The invention belongs to the technical field of intelligent processing and manufacturing, and relates to the field of variable force force control in the application of industrial robots, and more specifically, relates to a comprehensive active and passive compliant one-dimensional variable force grinding and polishing device and control method. Background technique

[0002] With the continuous development of science and technology, complex surfaces are widely used in aerospace, energy and shipbuilding and other fields. However, these surfaces cannot be composed of elementary analytical surfaces, and it is difficult to obtain accurate analytical solutions for free complex surfaces. Therefore, the processing of complex surfaces has become a key problem to be solved urgently. At present, the grinding and polishing of free-form surfaces mainly adopts manual grinding, but this method is labor-intensive and physically harmful to workers, and the processing ...

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