基于阻抗控制和工艺优化的机器人磨抛技术研究

Research on Robot Polishing Technology Based on Impedance Control and Process Optimization

摘要: 机器人磨抛加工具有柔性好、效率高等优点，但是其加工表面一致性容易受到末端力控及工艺参数的影响。本文首先通过机器人磨抛的阻抗控制的建模与仿真，对其参数进行整定，提高响应速度，减少力稳定时间；然后利用单因素和正交实验，分析工艺参数对磨抛表面粗糙度的影响规律，建立表面粗糙度的预测模型，求解得到有利于表面质量的工艺参数组合；最后结合阻抗控制和工艺参数优化实现磨抛质量的提升，研究结果表明：基于阻抗控制与工艺参数优化的机器人磨抛加工，可以有效降低工件表面粗糙度、提高表面完整性。

Abstract: Robot grinding has the advantages of good flexibility and high efficiency, but the consistency of the machined surface is easy to be affected by the end force control and process parameters. In this pa-per, the impedance control model and simulation of robot grinding are used to adjust the parame-ters, improve the response speed and reduce the force stability time. Then, the influence of process parameters on surface roughness was analyzed by single factor and orthogonal experiment, the prediction model of surface roughness was established, and the process parameters favorable to surface quality were obtained. Finally, impedance control and process parameter optimization are combined to improve the grinding quality. The results show that the robot grinding based on im-pedance control and process parameter optimization can effectively reduce the workpiece surface roughness and improve the surface integrity.