摘要
工业机器人是制造业发展过程中不可替代的重要装备,文章设计了一种基于工业机器人的柔性抛光执行器,采用自主研发的电路板作为控制核心,对输出力、输出行程、倾角、工具重量等工作参数实现动态监测。利用C#语言,结合TCP/IP通信协议,设计并开发了上位机软件,实现了实时数据采集和人机交互。结合六自由度工业机器人搭建抛光试验台,进行了铝板抛光试验,验证了执行器的性能与实现。
Industrial robot is an irreplaceable important equipment in the development process of manufacturing industry.In this paper,a flexible polishing actuator based on industrial robot is designed.The self-developed circuit board is used as the control core to realize dynamic monitoring of the output force,output stroke,dip Angle,tool weight and other working parameters.Using C#language and TCP/IP communication protocol,the upper computer software is designed and developed to realize real-time data acquisition and human-computer interaction.The performance and implementation of the actuator are verified by a polishing test bench built with a six-degree-of-freedom industrial robot.
作者
张一然
韩磊
李长耿
袁博
ZHANG Yiran;HAN Lei;LI Changgeng;YUAN Bo(CRRC Qingdao Sifang Rolling Stock Co.,Ltd.,Qingdao 266100,China)
关键词
机器人抛光
柔顺控制
人机交互
抛光试验
robot polishing
compliant control
human-computer interaction
polishing test
作者简介
张一然(1995-),男,山西榆社人,博士,中车青岛四方机车车辆股份有限公司(中级)工程师、主任工艺师,研究方向:轨道交通行业智能制造装备与技术。
