赵耀耀,陈松,李昌龙,李鑫,李雨龙.基于多轴刀路轨迹的自由曲面磁粒研磨试验[J].表面技术,2023,52(4):319-328.
ZHAO Yao-yao,CHEN Song,LI Chang-long,LI Xin,LI Yu-long.Test on Magnetic Abrasive Finishing of Free-form Surface Based on Multi-axis Tool Path Trajectory[J].Surface Technology,2023,52(4):319-328 |
| 基于多轴刀路轨迹的自由曲面磁粒研磨试验 |
| Test on Magnetic Abrasive Finishing of Free-form Surface Based on Multi-axis Tool Path Trajectory |
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| DOI：10.16490/j.cnki.issn.1001-3660.2023.04.028 |
| 中文关键词: 磁粒研磨 表面光整加工 自由曲面 六轴机械臂 三次B样条插值 |
| 英文关键词:magnetic abrasive finishing surface finishing free-form surface six-axis manipulator cubic B-spline interpolation |
| 基金项目:国家自然科学基金(51775258);辽宁省教育厅项目(2020FWDF07);辽宁省教育厅项目(2020FWDF05);辽宁科技大学基金(2018FW05) |
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| Author | Institution |
| ZHAO Yao-yao | School of Mechanical Engineering & Automation, University of Science and Technology Liaoning, Liaoning Anshan 114051, China |
| CHEN Song | School of Mechanical Engineering & Automation, University of Science and Technology Liaoning, Liaoning Anshan 114051, China |
| LI Chang-long | School of Mechanical Engineering & Automation, University of Science and Technology Liaoning, Liaoning Anshan 114051, China |
| LI Xin | School of Mechanical Engineering & Automation, University of Science and Technology Liaoning, Liaoning Anshan 114051, China |
| LI Yu-long | School of Mechanical Engineering & Automation, University of Science and Technology Liaoning, Liaoning Anshan 114051, China |
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| 中文摘要: |
| 目的 通过自由曲面的磁粒研磨试验，使工件曲面经研磨后能够获得较好的表面形貌，降低工件的表面粗糙度。方法 使用UG生成曲面三维模型，利用后处理功能，生成包含刀具位置和姿态的刀位文件，提取刀位文件中原始的刀路轨迹点，分析刀路轨迹，利用曲率的临界值提取轨迹的特征点。采用积累弦长参数化法对提取的轨迹特征点进行三次B样条插值，对比插值前后轨迹点拟合曲线在z轴的误差，再根据刀轴矢量计算机械臂末端姿态。选择磁极的不同开槽方式，并在Ansoft Maxwell软件里进行仿真模拟和分析，选定理论上较优的球形开槽磁极形式。通过试验加工铝合金自由曲面，对比研磨前后的表面形貌和表面粗糙度。结果 使用积累弦长参数法进行3次B样条插值，获得了步长较为均匀的轨迹点，优化了原始刀位轨迹。在球形磁极上进行开槽，使均匀磁场变为非均匀磁场，同时使最大磁感应强度由0.556 T增至0.727 T，增大了磁粒研磨过程中的研磨力。对铝合金曲面的部分区域进行60 min的研磨，其表面平均粗糙度从原始的Ra 8.71 μm降至Ra 0.56 μm。结论 将磁粒研磨与六自由度机械臂结合，进行曲面的光整加工，可以有效改善工件的表面质量，降低其表面粗糙度。 |
| 英文摘要: |
| The work aims to obtain a better surface morphology and reduce the surface roughness of the workpiece through the magnetic abrasive finishing test of the free-form surface. UG was used to generate 3D surface model, and the processing module was entered after setting of the tool type, machining allowance and other pre-processing. The post-processing function was adopted to confirm the tool path, and obtain the standard tool position file including the tool position and attitude. The original path point of the tool was obtained after removal of the machining G code. The curvature value was obtained through the approximate solution of the three-point method, the mean value of curvature was set as the threshold for distinguishing feature points from non-feature points and the feature points from the original trajectory were drawn with the critical value of curvature. Cubic B-spline interpolation was performed on the feature points by the accumulated chord length parameterization. The corresponding coordinate values were extracted from the digital module and compared with the original point and the interpolation point, thus analyzing the error of the curve fitted in the z axis. Then, the posture of the end of the manipulator was calculated according to the tool axis vector. The different slot methods of magnetic pole were simulated and analyzed in Ansoft Maxwell software, and the better spherical slot magnetic pole form in theory was selected to increase the lapping force. The surface topography and surface roughness of aluminum alloy before and after grinding were compared through tests. By accumulating chord length parameter method for cubic B-spline interpolation, the trajectory points with uniform step length were obtained, and the initial tool path was optimized. To a certain extent, the disadvantage of the large difference in the stroke of the end effector at the same time was improved. Slotted was carried out on the spherical magnetic pole to change the uniform magnetic field into a non-uniform magnetic field, and at the same time, magnetic induction intensity of 20 mm diameter area at a distance of 2 mm from the magnetic pole increased from 0.556 T to 0.727 T, and on the grinding track with the same distance and length of 30mm, the change of the magnetic induction intensity gradient was increased, which increased the grinding force during the process of magnetic abrasive finishing. The above methods were used to grind the aluminum alloy and the surface roughness decreased from original average surface roughness of 8.38 μm to 3.37 μm after 20 minutes of grinding. Then, after continuous grinding for 40 minutes, the average surface roughness decreased from 3.37 μm to 0.56 μm. By observing the surface topography with super depth of field, it can be found that the spherical melt produced by WEDM on the original workpiece is removed, indicating that combined magnetic abrasive finishing of six degree of freedom manipulator and the optimized five-axis machining tool path can effectively improve the surface quality of the workpiece and reduce the surface roughness. Therefore, a new method is tried for the finishing of free-form surfaces. |
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