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针对整体螺旋桨叶片型面抛磨过程易发生干涉、普通数控磨床难以加工的难题,设计了一套与整体螺旋桨叶片特点相适应的机器人砂带磨削系统.首先,融合实际抛磨过程中砂带以及接触轮的弹性变形和宽度等因素,建立了机器人砂带抛磨的数学模型.然后,依据接触轮运动过程中目标点的可达性,运用笛卡儿空间坐标变换的方法获得了机器人各关节理想位姿.进一步,将砂带的灵活抛磨空间进行了优化并在VERICUT上实现抛磨仿真.采用川崎RS20N类型的6R构型机器人进行了抛磨实验,结果与抛磨前叶片型面特征点位置比较,偏差小于±0.1 mm.实验表明,采用该方法能够较好地满足实际加工要求、有效提高螺旋桨叶片表面加工质量.
In order to solve the problem that the overall propeller blade profile polishing process is prone to interference and the common numerical control grinder is difficult to process, a set of robot belt grinding system is designed to suit the characteristics of the whole propeller blade.Firstly, And the elastic deformation and width of the contact wheel, the mathematic model of robot belt polishing is established.Based on the reachability of the target point during the movement of the contact wheel, the Cartesian space coordinate transformation The joint ideal attitude.Furthermore, the flexible polishing space of the belt was optimized and the polishing simulation was carried out on the VERICUT.The polishing experiment was carried out by using KRAQAS 6R robot with RS20N type.The results were consistent with those of the former blade profile before polishing The deviation of the characteristic points is less than ± 0.1 mm.The experimental results show that this method can meet the actual machining requirements and improve the surface machining quality of propeller blades effectively.