A Robotic Multi-directional Polishing Trajectory Generation Method Based on Preston-PSO Algorithm

doi:10.3969/j.issn.1004-132X.2023.14.010

Abstract

Abstract: Aiming at the texture phenomenon in robotic polishing processes, a multi-directional trajectory generation method used for robotic polishing was proposed based on Preston equation and particle swarm optimization algorithm，and the generated multidirectional polishing path was smooth, evenly distributed and without corners. Simulations and experiments show that compared with the polishing effectiveness of parallel trajectory, the trajectory generated by this algorithm may effectively inhibit the generation of surface polishing texture, reduce the roughness of polished surfaces, improve the surface quality, and obtain good mirror polishing effectiveness.

Key words: polishing process, tool path planning, cycloid path, adaptive trajectory generation, surface quality

摘要： 针对机器人磨抛加工过程中的纹理现象，提出一种基于Preston公式和粒子群优化算法的多方向性机器人磨抛加工轨迹生成方法，获得能自适应曲面模型的光顺无拐角、覆盖均匀且具有多方向性的磨抛加工轨迹。仿真与实验证明，与方向平行轨迹的加工效果相比，此算法生成的轨迹能有效抑制表面条形加工纹理的产生，减小加工表面粗糙度，提高表面质量，获得良好的镜面加工效果。

关键词: 磨抛加工, 加工轨迹规划, 摆线轨迹, 自适应轨迹生成, 表面质量

CLC Number:

LI Jiaxuan, LI Lun, ZHOU Bo, ZHAO Jibin, ZHU Guang, WANG Zhengjia, . A Robotic Multi-directional Polishing Trajectory Generation Method Based on Preston-PSO Algorithm[J]. China Mechanical Engineering, 2023, 34(14): 1729-1740.

李佳璇, 李论, 周波, 赵吉宾, 朱光, 王正佳, . 基于Preston-PSO算法的多方向机器人磨抛轨迹生成方法[J]. 中国机械工程, 2023, 34(14): 1729-1740.

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