铣削机器人去除锻件裂纹的轨迹规划研究  

Tajectory Planning Research for Removing Forging Crack with Milling Robot

作　　者：张永贵[1] 李海龙 ZHANG Yong-gui;LI Hai-long(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China)

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《组合机床与自动化加工技术》2018年第7期1-4,9,共5页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对铣削机器人去除锻件裂纹的问题,进行了相关轨迹规划插补算法的研究。首先,将离散的裂纹轨迹型值点用三次B样条曲线插值,拟合的曲线就是机器人末端执行器的运动路径。其次,提出了梯形速度控制算法,将裂纹路径按照速度敏感点进行分段,确定出每段曲线的加速段、匀速段、减速段的进给速度,进而利用泰勒展开式确定出每个采样周期的插补参数;同时,用三次B样条曲线插补形成各坐标轴的运动增量。最后,建立机器人运动学模型,将笛卡尔空间的插补数据映射到机器人关节空间,在分析机器人各关节位移、速度、加速度的基础上证明了这种插补算法在实际应用中的可行性。To solve the problem for removing forging crack with milling robot,The interpolation algorithm of the relevant trajectory planning is studied in this paper.Firstly,the discrete data points of the crack trajectory with Cubic B-spline curve interpolation,The fitting curve is the path of the robot's end-effector.Secondly,the trapezoidal velocity control algorithm is proposed,and the crack path is segmented according to the speed sensitive point,So it can ascertain feedrate of each segment of curve and the interpolation parameters of each sampling period are determined by the Taylor expansion;At the same time,cubic B-spline curve interpolation is used to form the motion increment of each coordinate axis.Finally,the kinematics model of the robot is established,The interpolation data of the Cartesian space is mapped to the robot joint space,Based on the analysis of the displacement,velocity and acceleration of the joints of the robot,the feasibility of the interpolation algorithm in practical application is proved.

关 键 词：铣削机器人 锻件裂纹 三次B样条 梯形速度 

分 类 号：TH16[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]