【摘要】 对基于力反馈的机器人超声振动弹性研磨进行了研究 ,建立了机器人研磨加工过程中的力学模型。采用了基于力外环的机器人力控制器的方案。通过实验研究得到了多种研磨加工条件对研磨效果 (表面粗糙度 Ra)的影响规律。对自动研磨新方法做了有益的探索更多还原

【Abstract】 In this paper, the author discusses robot-ultrasonic vibration polishing with elastic tool based on force feedback, establishes the mechanics model of robot polishing. A scheme of robot force controller based on external ring is adopted in this paper. The laws that relate many kinds of polishing conditions to polishing results are obtained. In this paper, some beneficial exploration is done for the new methods of polishing automatically.更多还原