椭球压力容器开孔切割机器人运动控制算法  

Motion control algorithm of cutting robot for ellipsoidal pressure vessels opening

作　　者：刘涛[1] 王宗义[1] 杜宏旺[1] 解巨军 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]大庆油田工程建设有限公司,大庆163712

出　　处：《焊接学报》2011年第8期61-64,116,共4页Transactions of The China Welding Institution

基　　金：黑龙江省自然科学基金资助项目(AF200921);中央高校基本科研专项资金资助项目(HEUCF100421)

摘　　要：针对椭球压力容器开孔和坡口切割问题,研制了一种专用的四自由度开孔切割机器人.介绍了切割机器人的机械结构及工作原理;利用空间解析几何原理建立了极坐标系下椭球壳体上开孔的相贯线数学模型;推导了坡口角度计算公式和变角度切割时四轴联动的控制算法;通过直线插补算法获得了机器人的理想运动轨迹;为克服切割机器人安装定位及壳体变形等误差因素,在理论计算的基础上,通过示教补偿对机器人的理论轨迹进行修正.结果表明,切割机器人实现了椭球开孔及坡口切割,切割质量满足工艺要求.According to ellipsoidal pressure vessels opening and cutting groove,a special four degrees of freedom cutting robot was developed.The mechanical structure and the working principle were introduced,and the intersecting line mathematic model of ellipsoidal shells opening in polar coordinates was established by using space analytic geometry.The groove angle calculation formula and four-axis motion control algorithm during groove cutting were derived,and ideal movement trajectory was obtained through linear interpolation algorithm.In order to eliminate the disturbances of location error and vessel distortion,teaching compensation algorithm based on theory calculation was proposed to correct robot motion trajectory.The practical application results illustrated that opening and groove cutting can be realized with the special cutting robot,and the cutting quality meets the technology requirements.

关 键 词：切割机器人 坡口切割 相贯线计算 插补 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]