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为了提高机器人砂带磨削系统加工复杂型面工件的磨削质量,提出了灵活磨削点和灵活磨削空间的概念,并且对其进行了定义。分析了影响灵活磨削空间的各种因素,提出了确定灵活磨削空间的方法。基于粒子群法,提出了一种通过优化磨削机器人的结构尺寸以及机器人相对于磨削轮的位置关系以获得足够灵活磨削空间的策略。最后,以磨削航空发动机叶片为例,利用本文提出的优化策略对一台专用的PPPRRR型磨削机器人的结构尺寸以及此机器人相对于磨削轮的位置关系进行了优化。仿真结果表明,如果叶片被置于此灵活磨削空间内,那么仅需使用一套夹具和一台磨削机即可实现复杂型面的磨削。
In order to improve the grinding quality of robotic belt grinding system for machining complex workpieces, the concept of flexible grinding point and flexible grinding space is proposed and defined. Various factors that affect the flexible grinding space are analyzed, and the method to determine the flexible grinding space is put forward. Based on Particle Swarm Optimization (PSO), a strategy is proposed to optimize the structure size of the grinding robot and the position of the robot relative to the grinding wheel so as to obtain enough flexible grinding space. Finally, taking the grinding of aeroengine blade as an example, the structural size of a dedicated PPPRRR grinding robot and its position relative to the grinding wheel are optimized by using the optimization strategy proposed in this paper. Simulation results show that if the blade is placed in this flexible grinding space, the grinding of the complex profile can be achieved using just one set of jigs and one grinding machine.