摘要
对基于力反馈的机器人超声振动弹性研磨进行了研究 ,建立了机器人研磨加工过程中的力学模型。采用了基于力外环的机器人力控制器的方案。通过实验研究得到了多种研磨加工条件对研磨效果 (表面粗糙度 Ra)的影响规律。
In this paper, the author discusses robot-ultrasonic vibration polishing with elastic tool based on force feedback, establishes the mechanics model of robot polishing. A scheme of robot force controller based on external ring is adopted in this paper. The laws that relate many kinds of polishing conditions to polishing results are obtained. In this paper, some beneficial exploration is done for the new methods of polishing automatically.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2000年第11期1277-1279,共3页
China Mechanical Engineering
基金
国家自然科学基金资助项目! (5 95 75 0 6 4)
关键词
机器人
力反馈
超声振动
弹性研磨
robot force feedback ultrasonic vibration polish
