为实现用小型装备对大型自由曲面进行精整加工的目标，研制一种自主研磨作业机器人，给出机器人结构与工作原理及曲面模型重构、控制系统的设计方法和实例.通过对5TTRRT机器人研磨加工实验对相关的结论加以验证，得出研磨工具头的姿态参数，验证了机器人的有效性和可行性，为自主研磨作业机器人的设计提供了一种方案.
Abstract
To achieve the polishing aim which a large freeform surface is grinded with a micro device, a robot system for autonomous grinding is presented. The design method and example are presented to design the structure, control system and software of the robot. The hardware experiment system of 5TTRRT is set up to do a series of experiments on polishing operation, by which, better position, and orientation parameters are acquired. Basic experiments are performed to testify the feasibility and efficiency of the robot. The investigation can give an alternative scheme for designing autonomous grinding robot.
关键词
自主研磨机器人 /
自由曲面 /
柔顺控制
Key words
autonomous grinding robot /
freeform surface /
polishing and compliance control
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参考文献
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基金
国家高技术研究发展计划（863）资助项目（2006AA04Z214）；吉林省自然科学基金资助项目（20101529）.
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