机器人砂带磨削系统具有弹性接触和宽行加工两个显著优点,被广泛应用在具有复杂工件的终加工领域,提高表面质量和加工效率。有关在曲率约束下的磨削路径规划研究较为少见。由于工件与接触轮之间存在复杂的弹性接触,因此,机器人磨削路径可以利用接触运动学的一般方法来求解。机器人砂带磨削过程且需要满足一般的砂带磨削工艺要求,其中最重要的是保证接触轮与工件的局部几何特征贴合。在曲率较小的局部,相邻刀位点的弧长加大,以保证加工效率。相反地,在曲率较大的局部,相邻刀位点的弧长较小,以保证加工精度。利用一系列平面与目标曲面相截,得到相应的截平面的轮廓曲线。对于任意一条轮廓线,优化相邻刀位点之间的弧长,在曲率较大的局部增加一个中间刀位点。本文提出了一种包含弧长优化和主曲率匹配的磨削路径生产方法,通过离线仿真验证了有效性,并利用该方法提高了曲面的磨削质量。该路径规划方法为生成光顺且精确的机器人曲面磨削路径提供了理论依据。 Robotic belt grinding system with elastic contact and wide-line processing two significant advantages, is widely used in the field of finishing with complex parts to improve the surface quality and processing efficiency. Research on the grinding path planning under the constraint of curvature is relatively rare. Due to the complex elastic contact between the workpiece and the contact wheel, the robotic grinding path can be solved using the general method of contact kinematics. Robot belt grinding process and the need to meet the general abrasive belt grinding process requirements, the most important of which is to ensure that the contact wheel and the workpiece geometry of the local fit. In a small part of the curvature, adjacent to the knife point arc length increase in order to ensure the processing efficiency. Conversely, in the larger curvature, the arc length of the adjacent tool point is smaller, so as to ensure the machining accuracy. Using a series of planes and the target surface, the corresponding contour curve of the section plane is obtained. For any of the contour lines, optimize the arc length between adjacent tool points and add an intermediate tool point to the larger curvature. In this paper, a production method of grinding path including arc length optimization and principal curvature matching is proposed. The effectiveness of the method is verified by off-line simulation, and the grinding quality of the surface is improved by this method. The path planning method provides a theoretical basis for generating a smooth and accurate robot surface grinding path.