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Novel hybrid robot and its processes for precision polishing of freeform surfaces
Precision Engineering ( IF 3.6 ) Pub Date : 2020-03-20 , DOI: 10.1016/j.precisioneng.2020.03.013
Peng Xu , Chi Fai Cheung , Chunjin Wang , Chenyang Zhao

Freeform surfaces have important applications in various industrial fields. However, achieving a high level surface finish on freeform surfaces using polishing is always a challenging task. Hybrid robots are promising alternatives to conventional computer numerical control (CNC) machines and industrial robots for ultra-precision machining. Herein, we present a novel custom-built hybrid robot for freeform polishing. After the laboratory prototype was successfully developed, its automation for a specific freeform surface was a major obstacle preventing its application. This critical issue was addressed by presenting a process to deal with tedious robot programming. Random tool path planning was performed in the task space, and hybrid robot motion planning was conducted in the joint space. By integrating the process flows, a robot programming toolkit was developed to directly output the control program for a specific robot controller. An illustrative example with a freeform surface is provided to verify the functionality of the developed hybrid robot and the proposed control processes, and the corresponding experimental results verify their effectiveness.



中文翻译:

新型混合机器人及其对自由曲面的精密抛光工艺

自由曲面在各种工业领域中都有重要的应用。但是,使用抛光在自由曲面上获得高水平的表面光洁度始终是一项艰巨的任务。混合机器人是用于超精密加工的常规计算机数控(CNC)机器和工业机器人的有前途的替代品。在这里,我们提出了一种新颖的定制混合动力机器人,用于自由形式的抛光。成功开发出实验室原型后,其针对特定自由曲面的自动化成为阻碍其应用的主要障碍。通过提出一个处理乏味的机器人编程的过程,解决了这个关键问题。在任务空间中执行了随机的刀具路径计划,在关节空间中执行了混合机器人运动计划。通过整合流程,开发了机器人编程工具包,可以直接输出特定机器人控制器的控制程序。提供了具有自由曲面的说明性示例,以验证开发的混合机器人和所提出的控制过程的功能,相应的实验结果验证其有效性。

更新日期:2020-03-20
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