中国机械工程 ›› 2021, Vol. 32 ›› Issue (18): 2217-2230,2238.DOI: 10.3969/j.issn.1004-132X.2021.18.011

• 智能制造 • 上一篇    下一篇

机器人磨抛力柔顺控制研究进展

葛吉民1,2;邓朝晖1,2;李尉1,2;李重阳1,2;陈曦3;彭德平4   

  1. 1.湖南科技大学难加工材料高效精密加工湖南省重点实验室,湘潭,411100
    2. 湖南科技大学智能制造研究院,湘潭,411100
    3. 上汽大众长沙分公司,长沙,410000
    4.湘潭华进重装有限公司,湘潭,411100
  • 出版日期:2021-09-25 发布日期:2021-10-14
  • 通讯作者: 邓朝晖(通信作者),男,1968年生,教授、博士研究生导师。研究方向为先进加工技术、智能制造。发表文章200余篇。E-mail:edeng0080@vip.sina.com。
  • 作者简介:葛吉民,男,1995年生,博士研究生。研究方向为机器人力控制技术、机器人智能磨抛技术。发表论文1篇。E-mail:1642948782@qq.com。
  • 基金资助:
    国家自然科学基金-浙江两化融合联合基金(U1809221);
    国家重大科技专项(2018ZX04035002-005);
    湖南省高新技术产业科技创新引领计划(2020GK2003);
    长株潭国家自主创新示范区专项(2017XK2302)

Research Progresses of Robot Grinding and Polishing Force Compliance Controls

GE Jimin1,2;DENG Zhaohui1,2;LI Wei1,2;LI Chongyang1,2;CHEN Xi3;PENG Deping4   

  1. 1.Hunan Provincial Key Laboratory of High Efficient and Precision Machining of Difficult-to-Cut Materials,Hunan University of Science and Technology,Xiangtan,Hunan,411100
    2.Institute of Intelligent Manufacturing,Hunan University of Science and Technology,Xiangtan,Hunan,411100
    3.SAIC Volkswagen Changsha Branch,Changsha,410000
    4.Xiangtan Huajin Heavy Equipment Co.,Ltd.,Xiangtan,Hunan,411100
  • Online:2021-09-25 Published:2021-10-14

摘要: 低成本、高灵巧度机器人在磨抛领域中的应用越来越广,而对机器人磨抛力的柔顺控制是降低工件表面粗糙度、获得高形状精度和表面完整性的关键。综述了国内外学者在机器人磨抛力主动柔顺控制策略、被动柔顺控制装置、主被动柔顺控制方法等方面的主要研究成果,分析了各种典型控制方法的原理及实现过程,比较了各方法的优缺点,并指出了目前研究存在的问题。最后总结了关键技术难点并展望了发展趋势。

关键词: 机器人, 磨抛力, 主动柔顺控制, 被动柔顺装置

Abstract: Low-cost and high-dexterity robots were used in field of grinding and polishing more and more widely. Compliance control of grinding and polishing forces for robots were the key to reduce surface roughness of workpieces and obtain high shape accuracy and surface integrity. Main research results of at home and abroad scholars in robots grinding and polishing force active compliance control strategies, passive compliance control devices, active-passive compliance control methods were summarized. Principles and implementation processes of various typical control methods were analyzed, and the advantages and disadvantages of each method were compared. Problems existing in current researches were pointed out. Finally, the key technical difficulties were summarized, and development trend was looked forward.

Key words:  , robot, grinding and polishing force, active compliance control, passive compliance device

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