Optimization of static performance for robot polishing system based on work stiffness evaluation

摘要

Robot-assisted bonnet polishing system (RABPS) is widely used in the polishing of optical components due to its low cost, high efficiency and rapid polishing. However, due to the insufficient stiffness of the robot, it is easy to produce vibration in the machining process, which not only causes the size of the polishing contact area to deviate from the ideal value, but also affects the removal amount of workpiece. First, this paper analyzes the influence of robot system stiffness on the actual polishing area size and polishing removal. Next, based on the analysis of the technical characteristics of multiple groups of polishing posture corresponding to the same point of robot bonnet polishing, the optimization method of robot static stiffness performance is proposed. Finally, the correctness and efficiency of the optimization method are validated by simulation and experiment. The working stiffness of the robot increases by 26.8% and the roughness of the polished surface is improved by 42.9% after posture optimization.