SIA OpenIR  > 工艺装备与智能机器人研究室
Alternative TitleDesign and Development of Automatic Polishing Robot Control System for Passenger Cars
刘雷; 王阳; 赵吉宾; 李论
Source Publication组合机床与自动化加工技术
Issue1Pages:72-74, 78
Contribution Rank1
Keyword恒力打磨 机器人 轨迹规划 控制系统
Other AbstractPassenger car manual polishing grinding time-consuming,high labor intensity,safety problems, the design and development of a polish automatic control system based on KUKA industrial robot. The adaptive structure design makes the grinding head can completely fit in the body surface,and the use of force of six axis force sensor feedback constitute a closed-loop feedback error real-time adjustment of robot pose compensation body size to guarantee constant grinding force. On the basis of that,a special software system of automatic grinding robot for passenger car was developed,and the planning of grinding path and the simulation of machining process were completed,and the grinding path was copied to the robot control system to finish grinding. The practical results show that the control system runs stably,and from the statistics summed up the paint removal and grinding thickness is proportional to the force,and the grinding speed is inversely proportional relationship,and the grades of sandpaper; surface roughness and grinding force,grinding speed it is mainly related with the grades of sandpaper.
Document Type期刊论文
Corresponding Author刘雷
Recommended Citation
GB/T 7714
刘雷,王阳,赵吉宾,等. 客车自动打磨机器人控制系统设计与开发[J]. 组合机床与自动化加工技术,2019(1):72-74, 78.
APA 刘雷,王阳,赵吉宾,&李论.(2019).客车自动打磨机器人控制系统设计与开发.组合机床与自动化加工技术(1),72-74, 78.
MLA 刘雷,et al."客车自动打磨机器人控制系统设计与开发".组合机床与自动化加工技术 .1(2019):72-74, 78.
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