Reconstruction of geometry information to gasbag polishing workpiece

RUAN Hang

（Key Laboratory of Special Equipment and Advanced Manufacturing Technology, Ministry

of Education, Zhejiang University of Technology, Hangzhou 310014, China）

Abstract: In order to solve the problems of reconstruct an unknown workpiece operations are always required by CAD information of workpiece which cause efficiency low, operation complex and so on, the one which design and implementation of gasbag polishing operations which can automatically online reconstruct the geometry information of workpiece was investigated. The operation method of online reconstruction of a workpiece surface and the basic theory were introduced, in order to obtain the normal vector of workpiece surface. The outer ring of active compliance control based on the inner position loop was proposed, the position compensation at the end of the polishing manipulator was used to achieve the gasbag polishing contact force control. The contact force model of gasbag polishing was established. The trajectory planning algorithm with time-varying constraints was established. An experimental platform which is capable to reconstruct an unknown workpiece was built, the theory was simulated. The results indicate that this strategy is feasible and effective.