Research on trajectory planning method of 4+2 degree-of-freedom robot dedicated to blade grinding
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摘要: 砂带抛磨作为复杂曲面叶片精密加工的最后一道工序，其加工质量直接影响叶片的服役性能和寿命。传统6自由度机器人多关节串联具有明显的弱刚性，在末端夹持大型叶片时抗变形能力欠佳。为此，文章自主设计研发了4+2自由度叶片抛磨专用机器人系统，并开展复杂曲面叶片抛磨轨迹规划方法研究。首先基于D-H法建立该机器人运动学模型，进行机器人运动学的正、逆解的求解；其次给出了综合考虑抛磨工具与工件曲率的干涉、刀路轨迹行距和轨迹点密度对残留高度的影响规律的轨迹规划方法，建立了2个单元的协同运动模型保证叶片的加工实现；最后通过叶片抛磨轨迹数控程序验证了所获得的抛磨轨迹的正确性。Abstract: As the last process of precision machining of complex curved blades, the processing quality of abrasive belt grinding directly affects the service performance and life of the blades. The traditional six-degree-of-freedom robot with multi-joint tandem connection has obvious weak rigidity, and its deformation resistance is not good when clamping large blades at the end. For this reason, a 4+2 degree of freedom blade grinding robot system is designed and developed. Research of complex surface blade grinding trajectory planning method is carried out with the self-developed grinding robot system. First of all, the kinematics model of the robot is established based on the D-H method. The forward and inverse solutions of robot kinematics are given. A trajectory planning method is proposed that comprehensively considers the interference between polishing tools and workpiece curvature, the influence of tool path spacing and trajectory point density on residual height. A collaborative motion model of two units is established to ensure the machining implementation of the blades. Finally, the correctness of the obtained grinding trajectory is verified through numerical control program simulation of the blade polishing trajectory.
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Key words:
- robots /
- blade grinding /
- trajectory planning /
- collaborative motion model
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表 1 式（2）中各符号表达式
x y z n $ {n_x} = {{\rm{c}}_{1,2,3}}{{\rm{c}}_{\theta_ p}}{{\rm{c}}_{\psi_ p}} - {{\rm{s}}_{1,2,3}}{{\rm{s}}_{\psi_ p}} $ $ {n_y} = {{\rm{c}}_{\psi_ p}}{{\rm{c}}_{\theta_ p}}{{\rm{s}}_{2,3,4}} + {{\rm{c}}_{2,3,4}}{{\rm{s}}_{\psi_ p}} $ ${n_z} = - {{\rm{c}}_{\psi_ p}}{{\rm{s}}_{\theta_ p}}$ O $ {o}_{x}=-{\rm{c}}_{\psi_ p}{\rm{s}}_{2,3,4}-{\text{c}}_{2,3,4}{\rm{c}}_{\theta_ p}{\rm{s}}_{\psi_ p} $ ${o_y} = {{\rm{c}}_{2,3,4}}{{\rm{c}}_{\psi_ p}} - {{\rm{c}}_{\theta_ p}}{{\rm{s}}_{2,3,4}}{{\rm{s}}_{\psi_ p}}$ ${o_{\textit{z}}} = {{\rm{s}}_{\psi_ p}}{{\rm{s}}_{\theta_ p}}$ a ${a_x} = {{\mathrm{c}}_{2,3,4}}{{\mathrm{s}}_{\theta_ p}}$ ${a_y} = {{\rm{s}}_{2,3,4}}{{\rm{s}}_{\theta_ p}}$ ${a_{\textit{z}}} = {{\rm{c}}_{\theta_ p}}$ u ${u_x} = {a_1} + {a_2}{{\rm{c}}_2} + {a_3}{{\rm{c}}_{2,3}} + {p_x}{{\rm{c}}_{2,3,4}} - {p_y}{{\rm{s}}_{2,3,4}}$ ${u_y} = {p_y}{{\rm{c}}_{2,3,4}} + {a_2}{{\rm{s}}_2} + {a_3}{{\rm{s}}_{2,3}} + {p_x}{{\rm{s}}_{2,3,4}}$ ${u_{\textit{z}}} = {d_1} + {p_{\textit{z}}}$ 
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