Research on motion model for gasbag polishing with continuous precession process

JI Shi-ming， CHEN Wei-qiang， JIN Ming-sheng， ZHANG Li
（Key Laboratory of E&M， Ministry of Education & Zhejiang Province， Zhejiang University of Technology，
Hangzhou 310032，China）

Abstract：In order to control the 6-DOF robot to implement the function of gasbag polishing with continuous precession process，the mathematical model of such motion was established. Based on the theory of gasbag polishing with continuous precession process，the mathematical model of gasbag polishing with fixed-point precession was firstly gained by using homogeneous coordinates transformation matrices. According to the requirements of continuous precession process，its mathematical model was developed with the conversion of two coordinate systems. In addition，the motion space of gasbag polishing with continuous precession process was described by simulation with Matlab，and the experiment of linear continuous precession process was made on a 6-DOF robot-assisted gasbag polishing system，whose result tallied well with the simulation. The research results show that the mathematical model of gasbag polishing with continuous precession process is feasible.
Key words： fixed-point precession；continuous precession；coordinates transform；motion space