The Application of Grinding and Polishing Using Six-Axis Robots

• Main Authors: TANG, CHUN-WEI, 唐焌瑋
• Other Authors: Hsu, Yung-Yuan
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/95040145926221104713

碩士 === 中華大學 === 機械工程學系 === 105 === As the traditional surface grinding and polishing mainly rely on manual operation, the dependence of the workers experience high, low efficiency, and labor intensity, noise and dust pollution, the health of workers hurt, with the improvement of living standards, more and more Workers choose to stay away from the surface grinding and polishing industry, although the market has emerged automatic grinding machine, but many in the form of imitation machine operation, limited by the processing of complex and high complexity of the workpiece, poor variability, which in turn have to invest in automation Grinding and polishing, and the mechanical arm has the function of imitating the human arm. The purpose of this study is to produce abrasive polishing path by CAM software and input it into the six-axis manipulator to achieve fast, High efficiency automatic grinding and polishing, and then replace the traditional manual grinding and polishing. In the course of the study, the painting is divided into three steps, first for the silver on the six-axis mechanical arm of the initial awareness, and through the silver arm in the provision of functions, such as TCP (Tool Center Point) tool center Point calibration method and Base measurement base - three-point calibration method, the actual operation and familiar with the use of the silver robot teaching device, and then applied to the subsequent software origin setting, path generation, code input ... and so on. In the second step, we will use SoildWork 3D to design the required fixture for the polishing piece. According to the geometry of the artificial bone plate, with the use of 3D printing technology, rapid prototyping fixture to meet the demand of certification path, Such as CAD drawing into the workpiece, set the model placed in the location of the machine, select the polished surface to be processed, into the Peano fractal path, and then the path of the robot to complete the path planning and operation of the system, Output the NC code and input its NC code into the robot. In the final step, we will put the polishing pieces, such as the artificial bone plate into the intelligent CAM software, and set and output the polishing path. Then we input the NC code into HRSS (HIWIN Robot System Software ) Six-axis manipulator simulation software, interference, debugging, simulation, and finally the NC code input on the silver six-axis robot arm to achieve and demonstrate the six-axis robot arm grinding and polishing of the study.