摘要
针对复杂空间内表面的喷涂作业问题,提出了一种适用于9轴机器人系统的喷枪轨迹规划方法。为实现工件内表面的自动化喷涂作业,在6轴工业机器人基础上引入3轴转台形成9轴机器人喷涂系统。为解决在该系统下如何生成3轴转台与机器人联动的喷枪轨迹这一难点问题,基于机器人离线编程软件进行了二次开发;并以涂层厚度方差最小为目标,给出了确定喷枪轨迹间距这一影响喷涂效果关键参数的方法。将上述轨迹规划方法应用于尾筒型工件,针对工件内表面的几何特征对喷涂高度和喷枪速率进行了优化。仿真结果表明工件内表面涂层厚度和均匀度均能满足要求,说明所提出的喷枪轨迹规划和优化方法是合理的。
Describes the trajectory planning for the nine-axial robotic spraying system for internal surface uniform spraying. In order to complete the auto-spraying process for the internal surface of the workpiece,the triaxial positioner is introduced to constitute the nine-axial robotic spraying system to extend the motion freedom of the workpiece. The path planning method is based on the development of the off-line programming system for painting robot. In order to minimize the coating thickness variation, the track pitch is determined, and the height and speed of the gun are optimized based on the internal surface geometric characteristic of the workpiece. Simulations show that the coating thickness and the coating uniformity can satisfy the requirement of spraying, it proves that these methods proposed are reasonable.
出处
《现代制造工程》
CSCD
北大核心
2016年第11期17-22,共6页
Modern Manufacturing Engineering
基金
四川省高校院所应用成果转化计划资助项目(12DXYB171JH-002)
关键词
空间内表面
扩展外轴
轨迹规划
喷涂
机器人
internal surface
additional axes
trajectory planning
spray
rob.ot
