飞机表面自动喷涂机器人系统与喷涂作业规划  

Automatic spraying robot system for aircraft surfaces and spraying operation planning

作　　者：缪东晶[1,2] 吴聊[1] 徐静[1] 陈恳[1,3] 谢颖[1] 刘志[1] 

机构地区：[1]清华大学机械工程系机器人及其自动化研究室,北京100084 [2]中国计量科学研究院,北京100029 [3]清华大学摩擦学国家重点实验室,北京100084

出　　处：《吉林大学学报（工学版）》2015年第2期547-553,共7页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2009AA043701);摩擦学国家重点实验室基金项目(SKLT09A03);国家自然科学基金项目(50975148;51105219)

摘　　要：提出了一种适用于飞机等具有大型自由曲面产品自动喷涂的机器人系统,介绍了该系统的机械结构布局与控制系统结构,在分析喷涂作业流程的基础上,对喷涂作业规划方法中的关键技术如飞机位姿标定、喷枪轨迹规划等进行了研究,并基于CATIA二次开发技术,开发了控制系统软件,将喷涂作业的所有环节对应的软件操作均无缝地集成到CATIA平台中。在模拟工件上进行喷涂试验,结果表明:该机器人系统自动化程度高,运行稳定可靠,能有效提高涂层质量。A robot system proposed in this paper can be used to automatic spraying for aircraft and other products with large-scale free-form surfaces.The mechanical structure and control system structure of the spray system are described.The spraying operation process is analyzed in details,and the technologies related to the spraying operation planning,such as aircraft pose calibration and spray gun trajectory planning,are studied.Based on CATIA secondary development,the control software of the spraying system is developed, which seamlessly integrates all the software operations corresponding to the whole spraying process into ACTIA platform.Spray tests on the workpiece demonstrate that the robot system is running stable and reliable with high automation,which can effectively improve the coating quality.

关 键 词：工业机器人技术 大型自由曲面 自动化喷涂 喷枪轨迹规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]