基于三维模型的涂胶轨迹生成方法研究  

Research of Glue Trajectory Generation Method Based on 3D Model

作　　者：樊义康 叶敏 吴强 陈杰 梅雪川 林粤科 FAN Yi-kang;YE Min;WU Qiang;CHEN Jie;MEI Xue-chuan;LIN Yue-ke(SINOMACH Intelligence Technology Co.,Ltd.,Guangzhou 510700;SINOMACH Intelligence(Suzhou)Co.,Ltd.,Suzhou 215134;School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640)

机构地区：[1]国机智能科技有限公司,广州510700 [2]国机智能(苏州)有限公司,苏州215134 [3]华南理工大学机械与汽车工程学院,广州510640

出　　处：《现代计算机》2020年第33期15-19,共5页Modern Computer

基　　金：广东省省级科技计划项目(2018B030323027)。

摘　　要：针对曲面涂胶自动化程度低,胶线质量难以保证等问题,基于三维模型生成工业机器人的涂胶轨迹并进行轨迹优化和离线编程,实现精准重复涂胶。首先以某汽车扰流板为涂胶工件建立涂胶工装,运用MotoSim EG-VRC离线编程软件生成涂胶轨迹;其次运用两等距曲线求交点的方法对轨迹的不可导点进行适当优化,生成平滑过度曲线;最后在离线编程软件中进行仿真分析和涂胶质量验证实验。结果表明,对基于三维模型生成的涂胶轨迹进行优化后,机器人在涂胶过程中动力输出稳定,无振动现象,且关节速度和TCP速度稳定;涂胶轨迹与目标轨迹重合度为96.6%,胶线中心距离边缘的偏差为0.022mm,涂胶高度偏差为0.012mm;为精准涂胶提供基础。In order to solve the problem that the degree of automation of the surface coating is low and the quality of the glue line is difficult to guaran⁃tee,the glue path of the industrial robot is generated based on the three-dimensional model,and the trajectory optimization and off-line programming are performed to realize precise repeated coating.Firstly,a car spoiler is used to build the glued tooling,and the MotoSim EG-VRC off-line programming software is used to generate the glue track.Secondly,the two isometric curves are used to find the intersec⁃tion point to optimize the non-guided point of the track.Smoothing over-curve;finally performing simulation analysis and glue quality veri⁃fication experiments in off-line programming software.The results show that after optimizing the glue track generated based on the threedimensional model,the power output of the robot is stable during the rubber coating process,no vibration phenomenon,and the joint speed and TCP speed are stable;The glue trajectory and the target trajectory coincide with 96.6%,the deviation from the edge is 0.022mm,and the glue height deviation is 0.012mm;It provides the basis for precise glue application.

关 键 词：工业机器人 轨迹生成 离线编程 等距曲线 涂胶 

分 类 号：U468.22[机械工程—车辆工程] TP242.2[交通运输工程—载运工具运用工程]