高技术通讯2016，Vol.26Issue(7)：667-676,10.DOI:10.3772/j.issn.1002-0470.2016.07.007
砂带磨削机器人磨削曲面工件的工作空间及加工轨迹分析
Workspace and machining trajectory analyses under a belt grinding robot’ s grinding of curved surface workpieces
摘要
Abstract
The robot belt grinding was studied to overcome traditional grinding ’ s shortcomings such as creating harsh working environment and increasing labor-intensity. A 3P3R belt grinding robot was designed for curved surface workpiece grinding. The robot kinematics and workspace were analyzed, and then the roughly reachable workspace of this robot was obtained by using the numerical analysis method. By modeling the surface point of the workpiece to be machined, the reachability simulation analysis was carried out on the processing of machining surface points by the Monte Carlo method, and the robot posture and the processing trajectory were obtained while all the surface points to be grinded were closest to the Grinding wheel. The analysis of this approach can be used to judge whether this robot can machine the curved surface workpiece or not, and can provide guidance to specific workpieces’ ma-chining teaching programing, while providing a way of off-line programming.关键词
砂带磨削机器人/工作空间分析/蒙特卡洛法/曲面工件/加工轨迹Key words
belt grinding robot/workspace analysis/Monte Carlo method/curved surface workpiece/machi-ning trajectory引用本文复制引用
李东京,王伟,贠超,王琦珑,郝大贤..砂带磨削机器人磨削曲面工件的工作空间及加工轨迹分析[J].高技术通讯,2016,26(7):667-676,10.基金项目
国家自然科学基金(51305008)资助项目。 （51305008）
