Research on the force compensation control strategy of machine part chamfering robot

As for machine parts with irregular shaped face edges, they are usually chamfered by human labor or chamfering machines which grind along the irregular edges with positon control. Especially some machine parts may have multiple space plane to be chamfered, which also need certain high chamfering quality. To solve this problem, a new machine part chamfering robot is designed, which is based on force compensation control. The chamfering robot mainly consists of vertical axis (Y-Axis), horizontal axis (X-Axis), compensation axis and rotation axis. X-Y table conducts interpolation motion to track the work piece. Meanwhile, the rotation axis, fixing with work piece, can rotate to meet the demand of multiple space contour processing. And the key component is the compensation axis (C-Axis) which has been equipped with a force sensor along the axis. So the compensation axis can receive real time feedback force signal. And according to the preliminary simulation, the friction compensation which is based on the exponential friction model is added to reflect and approximate the real axial cutting force to realize constant force processing while other double axes simultaneously motion to achieve trajectory tracking. Focused on PID control strategy, the control system of the compensation axis and X-Y table, as well as the X-Y-C axes of chamfering robot is analyzed. Furthermore the simulation models are respectively built in this paper. Finally simulation results show that by using force compensation control, the machine part chamfering robot can process with good quality and high efficiency.