机器人磨抛力柔顺控制研究进展

doi:10.3969/j.issn.1004-132X.2021.18.011

摘要/Abstract

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

中图分类号:

TP242

葛吉民, 邓朝晖, 李尉, 李重阳, 陈曦, 彭德平. 机器人磨抛力柔顺控制研究进展[J]. 中国机械工程, 2021, 32(18): 2217-2230,2238.

GE Jimin, DENG Zhaohui, LI Wei, LI Chongyang, CHEN Xi, PENG Deping. Research Progresses of Robot Grinding and Polishing Force Compliance Controls[J]. China Mechanical Engineering, 2021, 32(18): 2217-2230,2238.

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http://www.cmemo.org.cn/CN/Y2021/V32/I18/2217

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