基于刀位文件的空间复杂曲面机器人加工技术研究  

Research on robot machining technology of space complex curved surface based on cutter location file

作　　者：杨启正 涂宇 雷先华 胡自化[2] 秦长江[2] YANG Qi-zheng;TU Yu;LEI Xian-hua;HU Zi-hua;QIN Chang-jiang(Hunan Institute of Traffic Engineering,Hengyang 421007,China;School of Mechanical Engineering, Xiangtan University, Xiangtan 411105,China)

机构地区：[1]湖南交通工程学院,湖南衡阳421007 [2]湘潭大学机械工程学院,湖南湘潭411105

出　　处：《湘潭大学学报（自然科学版）》2021年第4期53-60,68,共9页Journal of Xiangtan University(Natural Science Edition)

基　　金：湖南省自然科学基金项目(2020JJ6035);湖南省教育厅科研项目(19K094,19B173);湘潭市科技局重点项目(CG-ZD20201003)。

摘　　要：针对空间复杂曲面难以利用机器人示教方式来实现机器人的路径规划,利用UG加工后置处理的G代码没有体现机器人的空间姿态,人工调整较为烦琐等问题,该文提出一种新算法对UG前置处理的刀位文件进行计算来实现机器人的空间姿态控制,求得对应机器人的末端位姿,经逆运算后以最短路程为优化目标转换为机器人各关节角的变量值,后经Matlab仿真验算,验证了该方法的可行性.Aiming at the problems that it is difficult to realize the path planning of the robot by using the robot teaching method for the space complex surface,the G code processed by UG does not reflect the spatial posture of the robot,and it is cumbersome to adjust the attitude manually,a new algorithm is proposed to calculate the cutter location file of UG pre-processing to realize the control of the spatial position and posture of the robot.The corresponding end position and posture of the robot is obtained.After the inverse operation,the shortest distance is taken as the optimization objective,and the spatial position and posture of the robot is transformed into the variable value of each joint angle of the robot.The feasibility of this method is verified by Matlab simulation.

关 键 词：空间复杂曲面 刀位文件 机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]