中文摘要：

为提高和调控模具自由曲面的加工效率与质量,提出了机器人辅助连续进动气囊抛光方法;运用运动学原理,推导了行切法加工方式下的切向速度数学模型;基于Preston方程,建立了连续进动气囊抛光材料去除模型;通过MATLAB仿真技术,分析了其它工艺参数一定的条件下,进给速度和叠加次数对气囊抛光切削方向分布和材料去除特性的影响;以材料快速均匀去除为目标,获得了优化进给速度v=0.7mm/s和叠加次数n=3.最后,通过机器人辅助气囊抛光系统,进行了试验对比验证,与仿真结果吻合,证实了连续进动气囊抛光方法应用于模具自由曲面抛光的有效性.

英文摘要：

In order to improve and control the polishing efficiency and quality of free-form surface mould, the method of robot-assisted gasbag polishing with continuous precession was proposed Kinematic principle was applied to deduce the mathematical model of tangential velocity by line cutting mode. The material removal function of gasbag polishing with continuous precession was established based on Preston equation. The effect on cutting direction and material removal character in terms of feed rate and superposition times was analyzed by MATLAB while other parameters were certain. The optimal feed rate v = 0. 7mm/s and superposition times n = 3 were obtained,aiming at rapid and uniform material remove. Finally,the simulation tallied well with the experimental results made on robot-assisted gasbag polishing system. The method of gasbag polishing with continuous precession applied on polishing free-form surface mould was very effective.