portant; overflow-wrap: break-word !important; font-size: 15px; color: rgb(136, 136, 136); visibility: visible;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">一、portant; overflow-wrap: break-word !important;">研究背景和意义portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">2022年中国汽车保有量3.19亿辆，同比增长5.63%，市场规模1118.59亿元。portant; overflow-wrap: break-word !important;">我国是世界汽车轮毂生产大国，每年产将近7~8亿。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">轮毂是汽车的重要零部件，直接关系到汽车的整体性能及外观。为减轻重量，提高制造精度，减小惯性阻力，减少油耗，改善外观，大多采用合金材质轮毂，如铝、镁合金和钢等。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">汽车轮毂最终的外观质量“七分靠磨抛，三分靠电镀”，表面磨抛是汽车轮毂生产过程中的一项重要工艺。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">轮毂的结构复杂，品种、型式多样portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">，portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">连续接触式轮毂抛光自动化难度大portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">。portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">目前仍主要依赖于人工抛光：

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">工作环境差，危险性高；

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">抛光精度低，质量不稳定；

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">劳动强度高，抛光效率低；

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">生产成本高。portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人化轮毂抛光portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">具有如下优点：

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">自动化作业、生产效率高；

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">抛光精度高、质量稳定性好；

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">灵活度高、适应性好；

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">生产成本低。portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">影响国内汽车轮毂磨抛机器人系统推广应用的主要问题：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">1.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人磨抛工艺研究不足：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">缺乏系统性的研究方法和有效的材料去除率模型，磨抛工艺参数主要凭经验选择；

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">2.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人的绝对定位精度偏低：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">传统的几何参数标定方法难于有效提高机器人的绝对定位精度，影响了离线编程方法的应用；

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">3.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">主动力控制技术不完善:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">工业机器人多不具备力控功能，现有气动力控末端执行器动态响应慢、灵活度差，难于保证轮毂磨抛质量一致性；

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">缺少轮毂磨抛专用离线编程系统与工艺软件包：portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">主要依赖商portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">用portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">CAD/CAM软件，人工干预多，编程效率低。

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">二、portant; overflow-wrap: break-word !important;">关键问题与技术portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">三、研究成果及创新portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1：手腕偏置磨抛机器人设计与控制portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.1portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">手腕偏置磨抛机器人设计

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究目portant; overflow-wrap: break-word !important;">标：设计满足轮毂磨抛需求的腕部（第五轴）360°工业机器人。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">解决方案：设计了portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">侧端偏置手腕结构portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">，优化5、6轴系传动与支撑；portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">基于portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">重心集中设计portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">思想，所有关节与杆件结构动态优化；portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">基于portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">刚柔耦合模型portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">进行机器人机构动态优化，完成了机器人机构设计。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.2 手腕偏置磨抛机器人逆运动学建模portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问portant; overflow-wrap: break-word !important;">题：磨抛机器人第五轴存在偏置，逆解解析解难以求取。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案：基于手腕侧端偏置结构特点，构建了新型的非线性方程组，减少计算量；

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">提出了由粗到精的两步法求解手腕偏置机器人逆解，收敛速度。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.3 磨抛机器人末端姿态优化和关节轨迹规划portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标：如何使机器人轮毂磨抛加工时保持最佳工作姿态？

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案：建立了基于评价指标的优选工作空间机制，优选出机器人高灵活性运动空间；portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">基于机器人末端位置和姿态变化阈值，提出了改进的portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">DP算法，优选加工路径点。

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果2：机器人精度标定与误差补偿portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标：通过机器人精度标定与误差补偿，提高机器人绝对定位精度。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案：提出局部指数积公式建立机器人几何误差模型，采用最小二乘法对参数进行辨识，并对误差进行补偿；提出高斯学习方法实现机器人非几何误差模型建立与误差补偿。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3：力控末端执行器与机器人力位混合控制portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.1 单自由度力控末端执行器设计portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究目标：研发一种新型精度高、响应快、柔性好、质量轻的单自由度气电混合式力控末端执行器，以实现高精度接触力控制，满足工业机器人抛光、打磨、去毛刺等连续接触式作业。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解portant; overflow-wrap: break-word !important; letter-spacing: 0.034em; font-size: 15px; font-family: 微软雅黑;">决方案：气电混合并联驱动，既提高力控精度，有效缓和冲击与振动，提高力控稳定性；portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">电动部分采用音圈电机直驱，动态响应快，力控精度高portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">；portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">增加拉伸弹簧，可有效补偿重力，又提高了系统刚度和动态响应。

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.2 基于双力传感器的单自由度力控末端执行器力控方法portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究问题：基于动力学模型的控制方法，虽然可以提高响应速度和稳态精度，由于物理建模与数据建模过程存在模型误差和参数误差，力控性能仍受限。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究方法：基于双力传感器宏微系统解耦控制方法。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.3 2R1T力控末端执行器设计portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标：研制具有两转动一平动(2R1T)自由度的力控末端执行器，用于复杂曲面磨抛作业。具备简洁的运动学关系、低运动质量。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案：采用结构紧凑、刚度高的3PPS并联机构，基于“零扭转”特性和改进的姿态描述方法推导了解析且线性的位移正解，便于机构设计与控制；portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">柔性铰链（导轨）刚柔混合设计，低运动质量、无摩擦portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">；portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">主动关节采用音圈电机直驱，高动态响应portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">。

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.4 基于接触点位姿补偿的2R1T末端执行器力控方法portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问题：传统机器人应用通常将末端执行器视为刚体，难以补偿2R1T力控末端执行器倾角变化导致的接触点偏移，降低了宏微机器人磨抛系统的力控精度。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案：引入接触点补偿模型的混合姿态/力控制算法。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果4：轮毂磨抛工艺建模与软件包开发portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.1 面向端磨工艺的法向接触力建模

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究问题：磨具与工件存在接触倾角，如何预测法向接触力随接触倾角和工件曲率的变化。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案：通过微分几何分析，得到以接触倾角和工件曲率半径为变量的接触深度分布函数；portant; overflow-wrap: break-word !important;">基于非线性应力-应变模型，进一步得到幂函数形式表达的法向接触力半解析公式。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.2 表面粗糙度分析与磨抛工艺参数优化portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目portant; overflow-wrap: break-word !important;">标：建立以表面粗糙度为评价指标的分析模型，并对工艺参数进行优化。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案：提出了以表面粗糙度为评价指标的工艺参数分析模型，更适合机器人的抛光作业；基于多因素正交实验方法，确定最主要影响因素及各工艺参数的最优值。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.3 机器人离线编程系统portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问题：汽车轮毂种类繁多、形状复杂，导致机器人编程工作量大、效率低

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案：由工件三维数模直接生成机器人程序，大幅度提高了复杂空间曲面的离线编程效率；提出了工具轨迹优化方法，工件曲面的UV线-轨迹/轮廓偏差-优化，加工平顺性和加工质量；实现了机器人离线运动仿真，仿真后的数据可直接导出为机器人程序。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.4 轮毂磨抛工艺软件包portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目portant; overflow-wrap: break-word !important;">标：研发面向轮毂机器人磨抛的工艺数据库与工艺软件包。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案：建立了磨抛工具库与工艺数据库，定义了不同型号，不同区域的抛光工具及工艺参数；开发了轮毂磨抛专用工艺软件包，推荐优化工艺参数与工具，提高磨抛效率与质量

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果5：轮毂智能磨抛系统集成与示范应用portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.1 轮毂智能磨抛系统集成

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.2 轮毂智能磨抛系统示范应用

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">四、结论与应用portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">针对轮毂磨抛需求，研发了6款力控末端执行器、1款磨抛机器人（腕端运动范围360°）和2个应用示范单元（小尺寸简单轮毂磨抛和大尺寸复杂轮毂磨抛）。

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">结论portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">1.轮毂磨抛建模与工艺参数优化：portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">提出了磨抛过程的半解析接触力模型；提出了轮毂表面粗糙度模型的工艺参数优化方法。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">2.机器人系统研制与参数标定：portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研发了腕端360°转动的磨抛机器人系统，提出了两步法逆解求取方法；提出了机器人几何与非几何误差参数辨识与误差补偿方法。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">3.力控末端执行器与机器人力位混合控制portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">：研发了6款力控末端执行器，满足portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">不同磨抛应用需求；portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">提出了基于双力矩传感器和接触点位姿补偿的机器人力控方法。

portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">4.离线编程系统与工艺软件包开发portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">：开发了轮毂磨抛机器人离线编程系统，开发了轮毂磨抛工艺软件包。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.产教融合：portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">场景认知-主动学习；目标导向-引领创新创业；学科交叉，科研促进教学。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">复杂表面检测与修型机器人系统portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">面向复杂弹性表面处理需求，开发了集智能检测与机器人修补工艺结合的重载复合机器人系统。

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">应用与产业化——芜湖英视迈智能科技有限公司portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">

portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />

portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">轮毂加工去毛刺工艺，目前以人工为主，粉尘和劳动强度是最大挑战，团队已完成轮毂自动去毛刺机器人开发工作，形成了轮毂自动去毛刺工作站。借助轮毂2D图纸/3D模型自动规划窗口去毛刺路径，通过高精度2D相机识别与定位，实现轮毂自动化混线去毛刺加工。