基于ABB 机器人的零件表面抛光设计.docx

PAGE PAGE I PAGE 2 PAGE 2 摘要 机器人打磨抛光技术是目前打磨抛光行业应用较为前沿的一种技术，工业机器人作为打磨零件表面的自动控制件，其设计直接决定了零件打磨抛光的质量与零件的使用寿命。工业机器人打磨较为迅速，节省了大量的人力与物力。机器人打磨可以做到24小时不间断工作，增加了生产效率，提高了经济效益。目前国内部分落后抛光行业仍采用传统手工抛光，操作人员工作环境恶劣、劳动强度大、生产效率比较低，而且对零件抛光工人的经验要求比较高。因此，为了提高零件抛光行业工作的效率、提高工业机器人的抛光质量，研究零件打磨机器人对零件打磨抛光的路径规划，实现工业机器人的自动化抛光对国内零件打磨抛光行业有重要意义。 本文以瑞典ABB机器人生产公司的IRB 120型号机器人、雄克公司FDB-340打磨器和手机外壳零件为研究对象，结合目前已有的机器人打磨抛光工艺，研究机器人对手机外壳表面的打磨轨迹规划并完成零件表面抛光任务,通过RobotStudio仿真软件将轨迹程序优化。 关键词：工业机器人 RobotStudio 零件表面抛光 仿真设计 Abstract Robot grinding and polishing technology is the frontier for grinding and polishing industry application of a kind of technology, industrial robots as automatic control on the surface of the polishing parts, its design directly determines the quality of the parts fine polishing and the service life of parts industrial robot polishing relatively quickly, save a lot of manpower and material resources of robot polishing can work 24 hours a day, increase the production efficiency, improve the economic benefits of the current domestic part behind still adopts the traditional manual polishing, polishing industry operators work environments, labor intensity is low production efficiency, but also for parts requiring polishing workers experience Therefore, in order to improve the efficiency of the polishing industry and improve the polishing quality of the industrial robot, it is of great significance to study the path planning of the polishing robot for the polishing of the parts and realize the automatic polishing of the industrial robot for the domestic parts polishing industry. Based on Sweden ABB robot production company of IRB 120 male model robot g FDB - 340 grinding machine and the mobile phone shell parts as the research object, combining the existing robot grinding and polishing process, the research on the mobile phone shell on the surface of the grinding robot trajectory planning and finish the parts surface polishing task, through the simulation software RobotStudio tr