中国机械工程2025，Vol.36Issue(6)：1222-1237,16.DOI:10.3969/j.issn.1004-132X.2025.06.010
轮毂毛刺机器人打磨刀路规划与工具姿态优化
Tool Path Planning and Tool Orientation Optimization for Robotic Grinding of Wheel Hub Burrs
摘要
Abstract
In order to solve the problems of sparse or redundant and uneven distribution of cutter location points,and the difficulty in acquiring the operational tool orientation and drastic changes when the robot was grinding and removing wheel window edge burrs,a robot grinding path planning method with cutter location point planning and tool orientation acquisition and optimization for wheel window burrs were proposed.The wheel window edge curve was described by using NURBS curve morphology feature parameters and robotic cutter location point planning was conducted for the wheel window edge a method for acquiring the normal vector of the inner face of the wheel window was pro-posed considering the wheel point cloud and window surface features,and a local coordinate system at the tool position points was established to describe the robot tool orientation.A robot end tool orienta-tion optimization model was established and optimally solved to obtain a continuous smooth robot end tool orientation for the wheel window.Wheel window edge burr robot grinding experiments were con-ducted to verify the effectiveness of the proposed robot grinding path planning method for wheel win-dow burrs.The results show that the robot joint angle curve is relatively smooth in the wheel window burr grinding and removing processes,and the robot may accurately reach the planned cutter location points and the end tool contacts window edges well and maintains the appropriate operational orienta-tion.The maximum chamfer of different wheel window edges after burrs grinding remains below 1.50 mm,and the maximum average value of chamfer measurements at different positions is as 0.64 mm,which is within the specified range of the processing specification.关键词
机器人打磨/刀路规划/刀位点规划/工具姿态优化/轮毂窗口Key words
robotic grinding/tool path planning/cutter location points planning/tool orientation optimization/wheel hub window分类
信息技术与安全科学引用本文复制引用
郭万金,孙浩,利乾辉,田玉祥,曹雏清,赵立军..轮毂毛刺机器人打磨刀路规划与工具姿态优化[J].中国机械工程,2025,36(6):1222-1237,16.基金项目
国家自然科学基金(52275005) （52275005）
陕西省自然科学基础研究计划(2025JC-QYXQ-027,2025-YBMS-619) （2025JC-QYXQ-027,2025-YBMS-619）
中央高校基本科研业务费专项资金(300102253201) （300102253201）
中国博士后科学基金(2024M760002) （2024M760002）
安徽省博士后科研项目(2023B675) （2023B675）
芜湖市重点研发与成果转化项目(2023yf044) （2023yf044）
