基于机器人的模具抛光柔顺执行机构研究的中期报告.docxVIP

基于机器人的模具抛光柔顺执行机构研究的中期报告 摘要 本文提出了一种基于机器人的模具抛光柔顺执行机构，该机构由机器人手臂和柔性执行器组成。在机器人手臂末端装配了柔性执行器，以实现模具表面的抛光柔顺。 本文首先介绍了机器人和柔性执行器相关的研究和应用。随后，对基于机器人的模具抛光柔顺执行机构进行了需求分析和任务分解。接着，针对机器人手臂末端装配柔性执行器的问题，对基于根据速度控制的PID控制算法的控制系统进行了设计。 最后，本文进行了仿真实验和实物实验。仿真实验结果表明，基于机器人的模具抛光柔顺执行机构可以精确地控制柔性执行器的力度和轨迹。实物实验也证明了该执行机构的可行性和优越性。 关键词：机器人，柔性执行器，抛光柔顺执行机构，PID控制算法，模具。 Abstract This paper proposes a robot-based mold polishing and flexible execution mechanism, which is composed of a robot arm and a flexible actuator. The flexible actuator is mounted at the end of the robot arm to achieve polished and flexible on the surface of the mold. This paper first introduces the research and application of robots and flexible actuators. Then, the requirements analysis and task decomposition of the robot-based mold polishing and flexible execution mechanism are carried out. Next, aiming at the problem of mounting flexible actuators at the end of the robot arm, a control system based on the PID control algorithm based on speed control is designed. Finally, simulation experiments and physical experiments were carried out in this paper. The simulation experiment results show that the robot-based mold polishing and flexible execution mechanism can accurately control the strength and trajectory of the flexible actuator. The feasibility and superiority of the execution mechanism were also proved by the physical experiment. Keywords: robot, flexible actuator, polishing and flexible execution mechanism, PID control algorithm, mold.