Design and analysis of an end effector of a polishing robot

GU Ji-nan, JIANG Xiao-dan, GAO Guo-wei

(Manufacturing Informatization Research Center, Jiangsu University, Zhenjiang 212013, China)

Abstract: Aiming at grinding process of engine cylinder post processing of the problem, a design scheme of end effector of a Y type double station was put forward. The structure composition, working principle were analyzed and the end effector of the structure and size of grinding wheel were designed. The 3D model of the end effector was established on the PTC Creo Parametric software platform and the stiffness and strength of the key components were checked on the Simulate. Grinding path was planned in the RobotStudio,and in the corresponding work space, the position and the path of the arrival whether it is reasonable were analyzed by the simulation experiment.The results indicate that the structure of the end effector is stable and reasonable. It is reported that during the robot path planning in the work area , the joints can be arrived at for 100% without interfering other workpiece interference after optimization.It can realize the automation of cylinder surface and convex mesa grinding task and provide a theoretical basis for the prototype and the optimization of the polishing path.
Key words: industrial robot; end effector; double station grinding; polish