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PDF(1375 KB)
PDF(1375 KB)
用于空间内曲面喷涂的冗余度机器人轨迹规划方法
Trajectory planning for redundant robots for internal surface spraying
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。
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.
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