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Research on Robot-assisted Gasbag Polishing Motion Control and Trajectory Planning for Mould

Author: ZhangYinDong
Tutor: JiShiMing；ZhangLi
School: Zhejiang University of Technology
Course: Mechanical and Electronic Engineering
Keywords: Robot Bonnet polishing Motion Control Trajectory planning
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 216
Quote: 6
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Abstract


In order to solve the mold free curved surface hand-polishing the skilled labor shortage , the polishing efficiency is low , monotonous time-consuming work , and the polishing quality consistency is difficult to be assured , mold free-form surface polishing process automation is one of the effective ways in which the robot-assisted mold airbags polishing study has important practical significance . MOTOMAN-HP20 robot , build a robot-assisted mold gasbag polishing experimental system based on a new type of rotary expander gasbag polishing tool , MOTOMAN-HP20 , and robot kinematics and robot-assisted mold the airbag polishing trajectory planning the large content of the in-depth analysis and discussion . Firstly, in accordance with the requirements of the mold free-form surface polishing process , build a robot-assisted mold gasbag polishing system experimental platform , and the one used in a new type of rotary the dilatation balloon polishing tools gasbag polishing technique and its mechanism , including the impact of the airbag polishing effect of polishing parameters , contact control contact area , gasbag polishing zone pressures analysis . Then a comprehensive analysis of the kinematics problem of robot MOTOMAN-HP20 robot kinematics mathematical foundation , the description of the robot pose is derived the robot rod transform matrix , establish robot kinematics equation , combined with robot MOTOMAN-HP20 rod structure parameters and joint variables , solving the robot forward and inverse kinematics equations expressions of the solution . Secondly, the robot gasbag polishing trajectory planning to carry out in-depth discussion , according to the different ways of robot motion control , the robot gasbag polishing trajectory planning is divided into two : Teach online programming gasbag polishing trajectory planning and off-line programming gasbag polishing trajectory planning and Both airbags trajectory planning method made ??compared to each other , the advantages and disadvantages of each , and focuses on the implementation process of the offline programming gasbag polishing trajectory planning . Finally, on the basis of the orthogonal experiment , the use of single-factor levels in comparative experiments , gasbag polishing track planning three different free-form surface mold polishing experiments , by polishing trajectory experiments revealed the influence of mold free curved bonnet polishing quality , this influence of rational analysis and interpretation .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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