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A virtual teaching method for robotic abrasive belt polishing based on force feedback

A technology of robot abrasive belt and teaching method, which is applied to simulation devices, instruments, simulators, etc. of space navigation conditions, can solve problems such as difficult to guarantee the operator's machining environment, and achieve the effect of an effective interactive programming method

Active Publication Date: 2021-02-19
SOUTH CHINA UNIV OF TECH
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  • Description
  • Claims
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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

Method used

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  • A virtual teaching method for robotic abrasive belt polishing based on force feedback
  • A virtual teaching method for robotic abrasive belt polishing based on force feedback
  • A virtual teaching method for robotic abrasive belt polishing based on force feedback

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Embodiment Construction

[0047] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings and examples, but the implementation and protection of the present invention are not limited thereto.

[0048] figure 1 It is a flow chart of a virtual teaching method for robot abrasive belt polishing based on force feedback of the present invention, as shown in the figure, including the following steps:

[0049] Step 1: Use VC++ and OPENCASCADE open source graphics engine to build a virtual scene for robot abrasive belt polishing, including virtual processing tools, virtual processing objects and virtual environment. First, complete the three-dimensional modeling of virtual processing tools such as robots, abrasive belt machines, and workpiece fixtures by modeling software, such as SolidWorks, ProE, etc., and export them as corresponding STL files; then, in order to obtain virtual processing objects, this embodiment utilizes laser scanners...

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Abstract

The invention discloses a virtual teaching method for robot abrasive belt polishing based on force feedback, comprising the steps of: building a virtual scene; building a virtual deformable abrasive belt model; establishing a coordinate mapping relationship between the end of a force feedback device and a virtual workpiece, and reading in real time , Update the posture and movement speed of the virtual workpiece in the virtual environment; hold the end of the force feedback device, operate the virtual workpiece at the contact wheel or the virtual deformable abrasive belt for teaching and polishing; calculate the abrasive belt polishing force of the virtual workpiece and integrate the force Feedback device output; under the guidance of the polishing feedback force, the user dynamically adjusts the polishing strength and attitude parameters of the workpiece according to the geometric information of the workpiece and the deformation of the abrasive belt; the generated trajectory is converted into robot code to realize automatic processing. The invention integrates the experience of manual polishing, enables users to select corresponding polishing methods, and dynamically adjusts the strength and posture of workpiece polishing, and provides a more natural and effective interactive programming method 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, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/4097G09B9/00
CPCG05B19/4097G05B2219/32153G09B9/00
Inventor 李静蓉谢海龙王清辉符俊岭
Owner SOUTH CHINA UNIV OF TECH
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