轮毂毛刺机器人打磨刀路规划与工具姿态优化

In order to solve the problems of sparse or redundant and uneven distribution of cutter location points, and the difficulty in acquiring the operational tool orientation and drastic changes when the robot was grinding and removing wheel window edge burrs, a robot grinding path planning method with cutter location point planning and tool orientation acquisition and optimization for wheel window burrs were proposed. The wheel window edge curve was described by using NURBS curve morphology feature parameters and robotic cutter location point planning was conducted for the wheel window edge a method for acquiring the normal vector of the inner face of the wheel window was proposed considering the wheel point cloud and window surface features, and a local coordinate system at the tool position points was established to describe the robot tool orientation. A robot end tool orientation optimization model was established and optimally solved to obtain a continuous smooth robot end tool orientation for the wheel window. Wheel window edge burr robot grinding experiments were conducted to verify the effectiveness of the proposed robot grinding path planning method for wheel window burrs. The results show that the robot joint angle curve is relatively smooth in the wheel window burr grinding and removing processes, and the robot may accurately reach the planned cutter location points and the end tool contacts window edges well and maintains the appropriate operational orientation. The maximum chamfer of different wheel window edges after burrs grinding remains below 1.50 mm, and the maximum average value of chamfer measurements at different positions is as 0.64 mm, which is within the specified range of the processing specification.