首页|复杂曲面机器人磨抛技术研究现状与趋势展望综述

复杂曲面机器人磨抛技术研究现状与趋势展望综述

扫码查看
原文链接
  • NETL
  • NSTL
  • 万方数据
在航空、能源、交通、军工等国家战略领域中,针对复杂曲面零件的自动化、高质量和高效率磨抛需求,对近年来国内外工业机器人磨抛加工关键技术及集成系统的研究和应用进展进行了综述.首先,从复杂曲面机器人磨抛机理及工艺优化、磨抛运动轨迹规划、磨削力控制等方面总结了复杂曲面机器人磨抛技术的研究成果;然后,介绍了国内外机器人磨抛集成系统应用现状;最后,分析了复杂曲面机器人磨抛技术的主要问题以及发展趋势,为该技术的发展提供了重要的指导和方向.研究结果表明:当前该技术存在的主要问题包括磨抛机理不够清晰,数学模型不够准确,复杂曲面机器人磨抛轨迹规划效率不高,磨抛力的控制仍不够精准等;另外,磨抛工艺参数优化、机器人力位混合控制、机器人高精度标定与误差补偿、基于数字孪生的机器人磨抛在线监控、机器人磨抛细分应用场景等方面的研究和实践将极大地推动机器人磨抛技术的发展和应用.
Summary of research status and trend prospect of robot grinding and polishing technologies for complex curved surface
Aiming at the processing demands for automation,high quality,high efficiency of complex curved surface parts in national strategic fields such as aviation,energy,transportation and military,the research and application progress of key technologies and integrated systems in industrial robot grinding and polishing process was comprehensively reviewed in recent years,both domestically and internationally.Firstly,the research achievement of complex surface robot grinding and polishing technology was summarized from multiple perspectives,such as grinding and polishing mechanism,process optimization,trajectory planning,grinding force control.Secondly,the application progress of robotic grinding and polishing integration systems at home and abroad was introduced.Finally,the main problems and development trends of complex surface robot grinding and polishing technology were analyzed and provided important guidance and direction for the development of this technology.The research results indicate that the main problems with this technology currently include unclear grinding and polishing mechanisms,inaccurate mathematical models,low efficiency in planning the grinding and polishing trajectory and insufficient precision in controlling grinding and polishing force.The future research directions are prospected from the aspects of process parameters model,hybrid control of robot force and position,high-precision calibration of robots and error compensation,integrated design and motion control of robot systems,online monitoring based on digital twins'technology,segmented application scenarios of robot grinding and polishing technology.The research and practice in the above aspects will greatly promote the development and application of robot grinding and polishing technology.

development trendsgrinding and polishing robotcomplex curved surface partsoptimization of grinding and polishing process parametersonline monitoring of grinding and polishinghigh precision calibration and error compensationgrinding force controltraj

张伟、余新阳、张伟中

展开 >

浙江机电职业技术学院 自动化学院,浙江 杭州 310053

浙江工业大学 浙江省通信网技术应用研究重点实验室,浙江 杭州 310014

浙大城市学院 工程学院,浙江 杭州 310015

发展趋势 抛磨机器人 复杂曲面零件 磨抛工艺参数优化 磨抛在线监控 高精度标定与误差补偿 磨削力控制 磨抛运动轨迹规划

浙江省基础公益研究计划项目浙江省通信网技术应用研究重点实验室开放基金浙江省新苗人才计划大学生科技创新项目浙江省高职教育"十四五"教学改革项目浙江省教育厅访问工程师校企合作项目宁波市科技攻关重大专项浙江机电职业技术学院课题

ZCLTGY24E0502A-0275-23-0122022R451A001jg20230105FG202306820211ZDYF020128A-0271-20-203

2024

10.3969/j.issn.1001-4551.2024.07.012

机电工程
浙江大学　浙江省机电集团有限公司

机电工程

CSTPCD北大核心
影响因子：0.785
ISSN：1001-4551
年,卷(期)：2024.41(7)
  • 17