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Abstract:
This paper describes a free curvature grinding robot system with
4-freedom multiple joints. Analysis of motion of the robot tool tip is
carried out by the principle of orderly kinematics and reverse
kinematics. Compensation of the positioning accuracy of robot tool tip
is made by Newton method. Experiments of inclined surface grinding are
carried out with and without control on tool posture. The result shows
that the parameter accuracies of various arms of robot directly impact
the positioning accuracy of the tool tip. Through compensation, the
positioning accuracy can reach±25μm. By controlling the posture of tool,
grinding allowance can be greatly reduced.
Key words:
Robot with
multiple joints Positioning accuracy Control on posture
Machining allowance
Received
19921126, received in revised form 19930616
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