【作者】 李泽； 徐鹏； 张巨帆； 李兵； 张志辉；

【Author】 Li Ze;Xu Peng;Zhang Jufan;Li Bing;Zhang Zhihui;Shenzhen Graduate School,Harbin Institute of Technology;Department of Industrial System and Engineering,The Hong Kong Polytechnic University;

【机构】 哈尔滨工业大学深圳研究生院； 香港理工大学工业系统与工程系；

【摘要】 抛光是提高自由曲面表面精度的一种重要手段,气囊抛光法做为近年来出现的实用性较高的抛光方法之一,日渐得到广泛应用。首先,根据气囊抛光的工作机理和七轴混联设备模型,提出采用以Power UMAC运动控制器和工业电脑为核心的气囊抛光运动控制系统,利用运动控制器的动态链接库设计开发了软件平台,制作了便于使用的人机交互界面。其次,对控制系统进行运动规划,在S型曲线的基础上,以对加加速度进行梯形规划为出发点,使用7阶S型曲线针对速度和加速度同时进行规划,使加减速过程更加平滑,减小冲击与振动。最后,通过对抛光轨迹的轮廓误差进行建模分析,根据误差模型编写控制算法,对轮廓误差进行补偿,并进行仿真实验,与未经过算法优化的轮廓误差数据进行对比,证明所使用的误差控制补偿算法能够有效的减小轮廓误差。更多还原

【Abstract】 Polishing is an important method to improve the precisionof freeform surface.Bonnet polishing method is one of the practical polishing methods appeared in recent years and gains increasingly used.According to the principle of the bonnet polishing and the model of seven-axis hybrid mechanism,the motion control system based on the Power UMAC and industrial PC is designed as the core of the bonnet tool polishing mechanism.A software interface platformis developed byusing the motion controller DLL file,and an easy interactive interfaceis designed.The velocity curve is planned based on the S-shaped curve.Using the 7-phase S-curve control model,the acceleration and deceleration process becomes more smooth shock and vibration of the mechanismis reduced.At last,the algorithm to reduce the contour error is designed to correct the polishing track,and the simulation results prove the effects of contour control algorithm.更多还原