【摘要】 针对材料表面余量精准去除问题，提出了一种基于遗传算法的打磨机器人去除量工艺参数优化方法。首先，以Preston方程和赫兹弹性接触理论为理论基础，建立去除量与工艺参数模型；其次，基于遗传算法以最小去除量误差值作为算法的优化目标对打磨工艺参数求最优解；最后，搭建打磨机器人系统进行优化前后的打磨对比实验验证。结果表明，在去除量值10μm～60μm范围内，该方法相较同类方法的材料去除量平均相对误差ε_r了降低13%左右，验证了该优化方法对材料表面余量去除的有效性。更多还原

【Abstract】 Aiming at the problem of accurate material surface margin removal, a genetic algorithm-based method for optimizing the process parameters of the removal amount of a polishing robot was proposed. First, based on the Preston equation and Hertzian elastic contact theory, a model of removal volume and process parameters is established; secondly, a genetic algorithm is used to find the optimal solution for the polishing process parameters with the minimum removal volume error value as the optimization goal of the algorithm; and finally, a polishing robot system is built. Conduct polishing comparison experiments before and after optimization to verify. The results show that the removal amount ranges from 10 μm～60 μm, Compared with similar methods, the average relative error ε_r of material removal is reduced by about 13%, The effectiveness of this optimization method in removing material surface margins is verified.更多还原