Design and implementation of haptics-based virtual teaching system for belt grinding

doi:10.16731/j.cnki.1671-3133.2019.01.028

Abstract

Abstract: It is a complex and laborious job to define proper toolpath for belt grinding of complex part via traditional programming methods such as online robot teaching and Offline Programming(OLP).In order to provide a more natural and effective solution for robot teaching of belt grinding,a force feedback model for abrasive belt grinding is proposed by using virtual reality and haptic technology.Moreover,based the force model,a robot virtual teaching system is developed by integrating the Phantom Desktop^ force feedback device,which enable the user to adjust the grinding force,posture and other parameters dynamically in a more natural and real way to obtain a satisfactory grinding surface quality.Finally,the results of mechanical verification experiment and evaluation experiment of grinding surface quality show that the force model proposed is able to simulate the actual force accurately in belt grinding process,and moreover,after teaching process via virtual teaching system developed,the robot can obtain comparable surface grinding quality than the manual grinding via experienced work.

Key words: robot, virtual teaching, haptic interface, belt grinding

CLC Number:

TP242.2

Xie Hailong, Fu Junling, Li Jingrong. Design and implementation of haptics-based virtual teaching system for belt grinding[J]. Modern Manufacturing Engineering, 2019, 460(1): 151-156.

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