六自由度机器人空间划线轨迹规划算法  

Algorithm of 6-DOF robot trajectory planning applied to special marking

作　　者：邱宁佳[1] 隋振[2] 李明哲[1] 郑承香 

机构地区：[1]吉林大学无模成形技术开发中心,长春130022 [2]吉林大学通信工程学院,长春130022 [3]长春瑞光科技有限公司,长春130022

出　　处：《吉林大学学报（工学版）》2013年第5期1307-1313,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：欧盟第六框架协议计划国际合作项目(ASTS-CT-2006-030877)

摘　　要：针对多点拉形后板料空间划线的问题,提出了一种六自由度机器人划线轨迹规划的算法。首先根据拉形件尺寸参数选取曲面的划线范围,然后利用作图软件分析曲面参数域内数据点,通过这些数据点的坐标关系提取出边界点,用以判定曲面的划线域,并将这个划线域投影到平面内,利用机器人逆运动学原理模拟显示出划线操作结果。实验证明,运用该算法可以解决板材区域选取问题,为成形件提供了一种有效的划线方法。An algorithm of 6-DOF robot marking and trajectory planning is put forward, which is used for Multi-point Stretch Forming process of curved surface of sheet metal. First, the drawing area of the curve surface is determined according to the dimensional parameters of the stretch forming machine. Second, mapping software is used to analyze the data points within the parameter domain of the curved surface. Third, the boundary points are extracted through the coordinate relationships of the data points to determine the line drawing domain of the curved surface. Finally, the line drawing domain is projected onto a plane. Simulation results of line drawing operation are displayed by the use of manipulator inverse kinematic theory. Experiment proves that the algorithm can solve the problem of area selection of sheet metal, and provide an effective line drawing method for sheet metal forming.

关 键 词：材料合成与加工工艺 多点拉形 六自由度机器人 机器人逆运动学分析 空间划线 

分 类 号：TG302[金属学及工艺—金属压力加工]