Research on Dynamic Characteristics Analysis and Optimization of Bonnet Polishing Robot
Aiming at the problem that the polishing quality is affected by the vibration of the robot processing system,the vibration characteristics analysis and optimization research of the bonnet polishing robot are carried out.Taking the ABB-IRB2600 robot as the research object,the modal experiment and the vibration characteristics of the system under working conditions are analyzed.The analysis shows that there are 5-order modes in the working frequency band of the system,and the vibration mainly occurs in 11～13 Hz,17～21 Hz and 27～28 Hz.The bonnet polishing process is severely limited.At the same time,the dynamic characteristics of the robot bonnet polishing system are optimized based on the metal rubber vibration reduction technology,and the vibration characteristics and polishing effect verification ex-periments are carried out.The experimental results show that the vibration intensity of the system after vi-bration reduction is reduced by 26.83％on average compared with that before vibration reduction.In fixed-point polishing,the surface roughness is reduced by 17.47％on average after vibration reduction.In the whole surface polishing,the Ra,PSD and PV values of the whole surface obtained by polishing after vibration re-duction decrease by 20.18％,44.83％and 20.24％respectively.The system optimization effect is re-markable,and the surface quality of the optical element is further improved.
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