五自由度机器人高效均匀曲面喷涂方法  

A Spray Method with High Efficiency and Thickness Uniformity for Free-Form Surface Based on Five DoF Robot

作　　者：魏胜利[1] 石玉 WEI Sheng-li;SHI Yu(School of Computer Science&Information Engineering,Anyang Institute of Technology,Anyang Henan 455000,China)

机构地区：[1]安阳工学院计算机科学与信息工程学院,河南安阳455000

出　　处：《组合机床与自动化加工技术》2021年第1期66-69,73,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：河南省高等学校重点科研项目计划(20B520001)。

摘　　要：针对被喷涂对象是平缓光滑的曲面,给出了一种高效均匀的喷涂方法。使用五自由度机器人,采用特定算法在喷涂过程中保持喷头垂直于喷涂面,且喷涂距离恒定。合理设计喷涂路径,进行等距喷涂,从而提高喷涂的效率和均匀度。以NURBS作为曲面的描述方法,采用"之"字形或者"回"字形路径规划,计算喷头运动插补点,采用泰勒展开式保证步长恒定和喷涂间距相等。在喷涂机器人运动模型基础上,通过对喷涂机器人的正逆运动特性进行分析,建立各关节求解方法。仿真结果表明,这种等速等间距插补方法,能够保持喷头以恒定的速度快速行进以及喷涂间距的稳定。Aiming at the substrate of smooth free-form surface with gentle change,an efficient and uniform spraying method is proposed.In order to improve the efficiency and uniformity of spraying,a five degree of freedom robot is used and a specific algorithm is presented to keep the spray nozzle perpendicular to the substrate surface to be sprayed.An appropriate trajectory planning strategy is adopted to keep each trajectory path be equally spaced.With the substrate surface being descripted with NURBS method,and zigzag or rotary path planning strategy being used,the interpolation points of the spray nozzle are calculated and Taylor expansion is used to obtain constant interpolation step length and equal space of trajectory paths.In terms of the robot motion model,the forward and reverse motion characteristics of the spray robot are analyzed,and the solution method of each joint is established.The simulation results show that this constant speed and equal space interpolation method can keep the spray nozzle move in a high speed stably and make each trajectory path be equally spaced.

关 键 词：曲面喷涂 喷涂机器人 垂直等距 

分 类 号：TH165[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]