基于MATLAB的汽车塑料内饰件打磨路径规划仿真  

Simulation of Polishing Path Planning of Automotive Plastic Interior Parts Based on MATLAB

作　　者：刘鸿飞[1] 徐斯诺 连山 LIU Hongfei;XU Sinuo;LIAN Shan(School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China)

机构地区：[1]北京科技大学机械工程学院,北京100083

出　　处：《轻工机械》2021年第1期77-81,共5页Light Industry Machinery

摘　　要：为提高汽车塑料内饰件的打磨效率,注塑厂引入工业机器人打磨工作站来替代人工作业。课题组根据汽车塑料内饰件的特性,将工业机器人的打磨路径分解成若干段直线路径和曲线路径,利用课题组设计的空间直线插补与空间曲线插补相结合的插补算法,通过MATLAB平台及Robotic Toolbox工具箱进行路径插补运算和仿真。结果表明:工作站打磨运动耗时约为79 s,与人工打磨耗时约120 s相比,打磨效率提升约34%。课题组设计的插补算法能够显著地提高打磨作业效率。In order to improve the polishing efficiency of automobile plastic interior trim,a plan was proposed to introduce industrial robot polishing workstations instead of manual operations.According to the characteristics of automobile plastic interior decoration,the polishing path of the industrial robot was designed and decomposed into a number of straight and curved paths;the algorithm that combines the space linear interpolation and the improved space curve interpolation was designed,then MATLAB and Robotic Toolbox were used for the path interpolation calculation and simulation.The simulation results show that the polishing movement time of the workstation is about 79 s.Compared with the manual polishing time of about 120 s,the polishing efficiency is increased by about 34%.The designed interpolation algorithm can significantly improve the polishing efficiency.

关 键 词：工业机器人 路径规划 空间直线插补算法 空间曲线插补算法 MATLAB 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置] TH162[自动化与计算机技术—控制科学与工程]