基於CAD模型的機械手臂去毛邊混合滑模阻抗控制

在機械手臂去毛邊的領域中，去毛邊的工具與工件之間的接觸力是最重要，去毛邊過程中所產生的力量會影響控制的精準度以及表面粗糙度。本篇論文提出以六軸機械手臂加裝磨輪進行去毛邊，提出混合滑模阻抗控制和模糊控制去除震動。另外也提出計算磨輪與毛邊之間接觸力的去毛邊力量模型，力量模型可以分成三個部分: 磨屑形成力、摩擦力以及刮屑力，其中磨屑形成力和摩擦力是由Werner所提出的力量模型和Malkin的理論推導出來，而刮屑力是由單顆磨粒實驗來推導。使用影像來計算接觸力所需要的毛邊高度與毛邊截面積的資訊，而期望的軌跡由電腦輔助設計軟體和電腦輔助製造軟體所得到，並且也考慮了在自由曲面下的手臂姿態，以避免過大的角度造成手臂的奇異性。

關鍵字

機械手臂去毛邊；去毛邊力量模型；影像；電腦輔助設計；電腦輔助製造；自由曲面

並列摘要

The contact force between the deburring tool and workpiece is the most important in the field of robotic deburring. This contact force will affect the control precise and surface roughness in the deburring processes. This thesis proposes a chattering-free fuzzy hybrid sliding mode impedance control strategy for precision deburring using 6 DOFs robot arm with grinder. The force model of the deburring is proposed to compute the contact force between the grinder and the burr. The force model can be separated into three parts: chip formation force, friction force and plowing force. The deduction of the chip formation force and friction force are based on Werner’s model and Malkin’s grinding theory, and the deduction of the ploughing force is based on single-grit tests. This model uses the burr’s height and cross-section area to calculate contact force, and those information are detected by camera. The desired trajectory is generated by CAD/CAM software. We also consider the orientation of the robot arm on free-curved surface in order to avoid singularity.

並列關鍵字

Robotic deburring ； Force model of deburring ； Vision ； CAD/CAM ； Free-curved surface

參考文獻

[4] N. Asakawa, K. Toda, and Y. Takeuchi, "Automation of Chamfering by an Industrial Robot; for the Case of Hole on Free-Curved Surface," Robotics and Computer-Integrated Manufacturing, Vol. 18, No. 5-6, pp. 379-385, 2002.

[5] F. Barrero, A. Gonzalez, A. Torralba, E. Galvan, and L. G. Franquelo, "Speed Control of Induction Motors Using a Novel Fuzzy Sliding-Mode Structure," IEEE Transactions on Fuzzy Systems, Vol. 10, No. 3, pp. 375-383, 2002.

[7] L. Chin-Gook, P. Jae-Sam, A. Hyun-Sik, and K. Do-Hyun, "Sliding Mode-Like Fuzzy Logic Control with Self-Tuning the Dead Zone Parameters," IEEE Transactions on Fuzzy Systems Vol. 1, No. 2, pp. 544-549, 22-25 Aug. 1999 2001.

[8] M. M. Daniali and G. Vossoughi, "Intelligent Active Vibration Control of Constrained Manipulaors in Robotic Deburring," Proc. of International Conference on Industrial Mechatronics and Automation, Chengdu, China, pp. 76-80, 2009.

[9] M. De Vathaire, F. Delamare, and E. Felder, "An Upper Bound Model of Ploughing by a Pyramidal Indenter," Wear, Vol. 66, No. 1, pp. 55-64, 1981.

國際替代計量

基於CAD模型的機械手臂去毛邊混合滑模阻抗控制

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