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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。对自动研磨新方法做了有益的探索
The ultrasonic vibration elastic grinding based on force feedback robot was studied, and the mechanical model in the robot grinding process was established. Using a force based on the outer force of the robot controller program. The influence of various grinding conditions on the grinding effect (surface roughness Ra) was obtained through experimental study. The new method of automatic grinding made a useful exploration