Force feedback-based robot abrasive belt polishing virtual demonstration method

Abstract

The invention discloses a force feedback-based robot abrasive belt polishing virtual demonstration method. The method includes the following steps that: a virtual scene is constructed; a virtual deformable abrasive belt model is constructed; a coordinate mapping relationship between the tail end of a force feedback device and a virtual workpiece is established, and the attitude and moving speed ofthe virtual workpiece in the virtual environment are read and updated in real time; a user holds the tail end of the force feedback device so as to operate the virtual workpiece to perform demonstrative polishing at a contact wheel or the virtual deformable abrasive belt; the abrasive belt polishing force of the virtual workpiece is calculated, and the output of the force feedback device is integrated; the user dynamically adjusts the force strength and attitude parameters of the polishing of the workpiece according to the geometric information of the workpiece and the deformation of the abrasive belt under the guidance of a polishing feedback force; and generated trajectories are converted into robot codes, so that automatic machining can be realized. The method of the invention integrates the experience of manual polishing, enables the user to select a corresponding polishing mode, and dynamically adjust the force strength and attitude of the polishing of the workpiece, and providesa more natural and effective interactive programming mode for robot abrasive belt polishing.

Description

technical field [0001] The invention belongs to the field of off-line programming of robot abrasive belt polishing, in particular to a virtual teaching method for robot abrasive belt polishing based on force feedback. Background technique [0002] With the continuous improvement of people's requirements for product function and aesthetics, workpieces composed of various types of free-form surfaces are becoming more and more common. According to the geometric information of the workpiece, there are two main forms of abrasive belt polishing: one is for Obtain a high material removal rate and polish on the abrasive belt supported by the contact wheel; the other is to polish the surface with interference problems at the contact wheel support for very large curvature, usually choose the abrasive belt without the contact wheel support At this point, the elastic deformation of the abrasive belt is used to polish such curved surfaces. Due to its complex material removal mechanism, ...

AI Technical Summary

Problems solved by technology

Online teaching mainly has the following disadvantages: it is difficult to keep the operator away from the harsh and dangerous machining environment; the accuracy of teaching depends entirely on the experience of the operator

However, the virtual teaching method of robotic abrasive belt polishing with integrated force feedback has not been reported in the literature

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