Research on Robot Control Technology for Finishing Cut Process of Aluminum Alloy Hubs

Abstract

Abstract: A robot control technology that integrated teaching programming method with off-line programming method was proposed to complete the finishing cut of hubs by comparing the merits and demerits of these two methods, based on analyzing the structure of aluminum alloy wheel hubs and the requirements of finishing cut. The off-line programing was achieved by using Pieper method to complete robot inverse kinematics solution, according to the points informations of hub surface tool path and robot kinematic equations. The research shows that the robot control technology integrated teaching and off-line programming method satisfies the finishing cut requirements, and greatly enhance the efficiency of hub finishing cut.

Key words: robot, control technology, finishing cut, aluminum alloy hub

摘要： 基于对铝合金轮毂结构及光整加工要求的分析，通过比较机器人示教和离线编程的优缺点，提出示教编程和离线编程集成使用的机器人控制技术，来完成轮毂光整加工。机器人离线编程控制是根据轮辐表面刀具轨迹的点位信息和机器人运动学方程，运用Pieper法进行机器人运动学方程逆解来实现的。研究表明，采用示教编程和离线编程集成的机器人控制技术能在满足光整加工要求的前提下大大提高轮毂加工效率。

关键词: 机器人, 控制技术, 光整加工, 铝合金轮毂

CLC Number:

Yang Zhongsheng, Huang Yun, , Zou Lai, Ren Xu. Research on Robot Control Technology for Finishing Cut Process of Aluminum Alloy Hubs[J]. China Mechanical Engineering.

杨仲升, 黄云, 邹莱, 任旭. 铝合金轮毂机器人光整加工控制技术研究[J]. 中国机械工程.

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