摘要
为解决小型异构件全自动抛光机在抛光复杂曲面零件时夹具体相对于布轮位姿的精确控制难题,基于抛光机结构,分析其三直线轴和三旋转轴的运动系统,建立机台的D-H坐标系。通过运动学正反向运算推导出其位姿方程并求得逆解,确定夹具体位姿与各个关节变量的对应关系。以水龙头为例,提取三维模型表面关键点坐标,借助MATLAB和ADAMS逆解出各关节变量数值,实现各关节的运动学仿真。抛光实验获得的表面粗糙度Rz=0.36μm,满足抛光要求。
In a small heterogeneous parts automatic polishing machine（SHPAPM）, it was signifi- cant to precisely control the relative motion between a clamp and a cloth wheel, especially for polis- hing of complex surface parts. Based on the structure of SHPAPM, the motion system with 3 linear axes and 3 rotational axes was analyzed, and the DH machines coordinate system was established. In the coordinate system, pose＇s equations were deduced from kinematics forward and reverse opera- tions, then their inverse solutions were obtained. Those solutions determined mapping relationship between clamp poses and robot＇s joints. For verification, a faucet 3D surface model was applied to justify the new method in a MATLAB/ADAMS based simulator. In the simulation, the new method successfully solves unknown variables for joints. Besides simulation, field polishing experiments were also conducted, which results in low roughness（Rz=0.36 μm） and high accuracy.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第8期1039-1042,1052,共5页
China Mechanical Engineering
基金
福建省科技计划资助重点项目(2012H0042)
厦门市科技计划资助项目(3502Z20131156)
关键词
机器人
抛光机
运动学仿真
小型异构件
robot
polishing machine
kinematics simulation
small heterogeneous parts
