基于六维力的复杂曲面打磨方法、系统、设备和介质
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEI JING GAO FAN JI QI REN KE JI YOU XIAN GONG SI
- Filing Date
- 2023-11-14
- Publication Date
- 2026-07-17
AI Technical Summary
Existing surface polishing methods for parts are complex to operate when dealing with complex curved surfaces, and the polishing quality is difficult to control, especially due to the difficulty in adjusting the posture of the polishing head and the additional steps introduced by the vision sensor, which complicate the process.
Employing a six-dimensional force sensor and active disturbance rejection control technology, the contact force between the grinding head and the curved surface is gradually adjusted to a constant desired force. The position and posture of the grinding head are adjusted in real time using the data from the six-dimensional force sensor to make it parallel to the normal of the curved surface, and grinding is performed in combination with a preset two-dimensional planar motion trajectory.
It enables efficient polishing of complex curved surfaces, avoids the need for visual recognition and teaching trajectories, ensures polishing quality and effect, and simplifies the operation process.
Smart Images
Figure CN117655814B_ABST