用于空间内曲面喷涂的冗余度机器人轨迹规划方法

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清华大学辅仁网/2017-07-07

邵君奕¹,张传清¹,陈雁^1,²,陈恳^1,³(

)

2. 后勤工程学院军事供油工程系, 重庆 400016
3. 清华大学摩擦学国家重点实验室, 北京 100084

Trajectory planning for redundant robots for internal surface spraying

Junyi SHAO¹,Chuanqing ZHANG¹,Yan CHEN^1,²,Ken CHEN^1,³(

)

1. Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China
2. Department of Petroleum Supply Engineering, Logistical Engineering University, Chongqing 400016, China
3. State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China

摘要:

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摘要该文针对冗余度机器人的轨迹规划问题进行研究,以实现航空工业中特定空间弯曲管道内表面的自动化喷涂作业。在建立复杂内曲面约束和冗余度机器人运动学模型基础上,通过求解冗余度机器人的逆运动学方程,建立适用于一般空间曲管类零件内曲面喷涂作业的冗余度机器人轨迹规划方法。在仿真中使用此方法,得到了不同情况下冗余度机器人的无碰撞喷涂轨迹。在喷涂应用中使用此方法,冗余度机器人完成了无碰撞的喷涂作业,经检测涂层的厚度和均匀度满足工艺要求。

关键词 ：冗余度机器人,喷涂,轨迹规划

Abstract：This article describes the trajectory planning for redundant robots for spraying the inner surface of a curved pipe. The complex inner surface constraints and the redundant robot kinematics are modeled with the inverse kinematics solved to plan the redundant robot trajectories for inner surface spraying which can apply to all types of pipes. Simulations give collision-free spraying trajectories for various conditions. Spraying tests show that the redundant robots complete the collision-free spraying operations. The coating thickness and uniformity both satisfy the requirements.

Key words：redundant robot spray trajectory planning

收稿日期: 2010-04-06 出版日期: 2015-03-17

引用本文:

邵君奕,张传清,陈雁,陈恳. 用于空间内曲面喷涂的冗余度机器人轨迹规划方法[J]. 清华大学学报（自然科学版）, 2014, 54(6): 799-804.
Junyi SHAO,Chuanqing ZHANG,Yan CHEN,Ken CHEN. Trajectory planning for redundant robots for internal surface spraying. Journal of Tsinghua University(Science and Technology), 2014, 54(6): 799-804.

链接本文:

http://jst.tsinghuajournals.com/CN/或 http://jst.tsinghuajournals.com/CN/Y2014/V54/I6/799

图表:

复杂曲管形状示意图

喷涂机器人结构示意图

喷涂机器人数学模型

复杂曲管截面内接椭圆

喷涂机器人在管道内进行作业的数学描述

仿真中机器人的关节和连杆与虚拟轴线位置关系

不同末端轨迹和虚拟轴线下的仿真情况

喷涂机器人在曲管内的喷涂仿真

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