基于CAD/CAM技术的机器人连续轨迹规划  

Trajectory Planning for Industrial Robots Based on CAD/CAM Software

作　　者：陈浣[1] 王建平[1] 李晓峰[1] 

机构地区：[1]中国科学技术大学精密机械与精密仪器系,合肥230027

出　　处：《组合机床与自动化加工技术》2009年第8期29-32,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：在复杂零件造型及弧焊中,提出了基于CAD/CAM技术的机器人连续轨迹规划算法。该算法利用CAM中的造型及铣加工功能模块获得待加工工件表面信息,然后综合考虑机器人系统加工精度和加工速度的要求,采用累加弦长的三次参数B样条算法,调整和优化工艺参数,并将CNC轨迹转化成机器人运动轨迹。实验证明,该算法所生成的连续轨迹运动精度更高,运行更平稳,可满足面向复杂轮廓的现代高速高精度的机械加工要求。An automatic path planning algorithm based on CAD/CAM module is developed for complicated surfaces sculption and arc welding. The surface information of workpiece is obtained through the milling module of the CAM software, and on the ground of the consideration of the requirement of processing speed and accuracy, it adopts interpolation algorithm of cubic parametric B-spline to the problem of cumulative string. The CNC track is transformed to the robotic continuous path after the track is adjusted by the parameters. The experiment result shows that the robotic continuous path produced by this algorithm is of higher precision and more smooth motion, which can meet the modem mechanical demands of high speed and accuracy in manuafacturing complicated profiles.

关 键 词：CAD/CAM 工业机器人 轨迹规划 三次B样条 插补算法 

分 类 号：TH16[机械工程—机械制造及自动化] TG65[金属学及工艺—金属切削加工及机床]