產(chǎn)品表面的光滑光亮,不僅使產(chǎn)品更具有吸引力,而且還能改善其導(dǎo)電性能、耐腐蝕性能,抗生物污染性能等。然而,產(chǎn)品表面拋光需要人工操作,勞動(dòng)強(qiáng)度大、費(fèi)力、費(fèi)時(shí)、費(fèi)用昂貴、且容易出錯(cuò)。此外,由于經(jīng)常接觸有害的拋光粉塵和高分貝噪音,拋光工人的健康也受到威脅。工業(yè)機(jī)器人具有可編程、重復(fù)性好、精度高等優(yōu)點(diǎn),可以用于產(chǎn)品表面拋光。然而,對(duì)于復(fù)雜的自由曲面,機(jī)器人拋光還面臨許多問(wèn)題,現(xiàn)已成為工業(yè)應(yīng)用的瓶頸。本論文針對(duì)復(fù)雜曲面的機(jī)器人拋光提出了一套新的方法。該方法的核心是具有力反饋控制的刀具路徑規(guī)劃以及基于實(shí)驗(yàn)設(shè)計(jì)（Design of Experiment,DOE）的拋光工藝參數(shù)優(yōu)化。刀具路徑規(guī)劃旨在確保覆蓋面積,而力反饋可以確保表面質(zhì)量。在刀具路徑規(guī)劃中考慮了機(jī)器人運(yùn)動(dòng)的奇異性、關(guān)節(jié)運(yùn)動(dòng)極限和生產(chǎn)率,從而使機(jī)器人能在保證軌跡平穩(wěn)的前提下快速移動(dòng)。此外,作者還設(shè)計(jì)了一個(gè)的機(jī)器人末端執(zhí)行器以實(shí)現(xiàn)力反饋控制。這一方法在眼鏡架拋光的實(shí)驗(yàn)中得到了驗(yàn)證。實(shí)驗(yàn)結(jié)果證明這一方法能很好地控制拋光力,超過(guò)了產(chǎn)品的表面質(zhì)量要求和拋光生產(chǎn)率要求。拋光工藝參數(shù)優(yōu)化的目的是達(dá)到最大的拋光生產(chǎn)率。首先采用Taguchi方法分析了不同... 

【文章來(lái)源】：中國(guó)科學(xué)院大學(xué)(中國(guó)科學(xué)院深圳先進(jìn)技術(shù)研究院)廣東省

【文章頁(yè)數(shù)】：105 頁(yè)

【學(xué)位級(jí)別】：博士

【文章目錄】：
Dedication
摘要
Abstract
Chapter1:Introduction to Robot Polishing
    1.1.Surface polishing in industry and challenges
    1.2.Robot polishing,advantages and concerns
    1.3.Organization of thesis
Chapter2:Literature Review
    2.1.Robot polishing system
        2.1.1.Passive compliance control
        2.1.2.Active compliance control
    2.2.High-quality surface achievement
        2.2.1.End effector design and implementation
        2.2.2.Surface roughness prediction model
        2.2.3.Path generation
        2.2.4.Detection of surface quality
    2.3.Prediction Methods for the Material Removal During Polishing
        2.3.1.Prediction Methods for the Material Removal Based on Models
        2.3.2.Prediction Methods for the Material Removal Based on Experimental Data
Chapter3:Surface Quality Measurement
    3.1.Glossiness
        3.1.1.Factors which affects glossiness
            3.1.1.1.Effect of refractive index on glossiness
            3.1.1.2.Effect of angle of incident on glossiness
            3.1.1.3.Effect of surface topography on glossiness
    3.2.Surface roughness
        3.2.1.Arithmetic average roughness height
        3.2.2.Root mean square roughness
        3.2.3.Skewness and Kurtosis
    3.3.Surface roughness measuring instruments
Chapter4:Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces
    4.1.The Proposed Method
        4.1.1.Workstation Building
            4.1.1.1.Polishing Tool Selection
            4.1.1.2.End Effector Selection
        4.1.2.Force Control Strategy
            4.1.2.1.Tangential Force Component Control
            4.1.2.2.Normal Force Component Control
        4.1.3.Tool Path Planning Strategy
            4.1.3.1.Surface Division
            4.1.3.2.Tool Path Generation for Individual Part Surfaces
            4.1.3.3.Tool Path Stitching （Connection of all part surfaces in single path）
            4.1.3.4.Singularity
    4.2.Results and discussions
        4.2.1.Surface Roughness
        4.2.2.Glossiness
    4.3.Summary
Chapter5:Optimization of the Polishing Efficiency and Torque by Using Taguchi Method and ANOVA in Robotic Polishing
    5.1.Experimental procedure
        5.1.1.Workpiece and Polishing Tool
        5.1.2.Experimental Setup
        5.1.3.Taguchi Method and Polishing Parameters
        5.1.4.Analysis of Variance（ANOVA）
        5.1.5.Regression
    5.2.Results and discussion
        5.2.1.Analysis of the Means and S/N Ratios of the Results
        5.2.2.Analysis of ANOVA
        5.2.3.Regression Analysis of Polishing Efficiency and Torque
        5.2.4.Confirmatory Test at optimal input parameters
    5.3.Summary
Chapter6:Conclusions and Future Work
Biblography
About the Author
Publications during Doctoral Degree


【參考文獻(xiàn)】：
期刊論文
[1]基于Preston方程的不銹鋼曲面拋磨工藝參數(shù)分析[J]. 吳昌林,王韋,李強(qiáng),王備.  機(jī)械制造與自動(dòng)化. 2012(04)
[2]Structure and Control of an Inverter Type Power Source for Robot Arc Welding[J]. 都東,韓贊東,肖平,張前,張人豪.  Tsinghua Science and Technology. 1998(02)



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