七轴机器人折弯仿真的路径规划  

Path planning for bending simulation of seven-axis robot

作　　者：韩朝 游有鹏[1] 王栎 何健 HAN Chao;YOU Youpeng;WANG Li;HE Jian(College of Mechanical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,南京210016

出　　处：《现代制造工程》2023年第6期52-56,137,共6页Modern Manufacturing Engineering

基　　金：国家重点研发计划资助项目(2018YFB1309203)。

摘　　要：针对七轴机器人钣金折弯离线编程仿真过程中的机器人自主运动问题,提出了一种将二级混合碰撞模型与阻碍控制自适应步长RRT*算法相结合的七轴机器人路径规划方法。由基于OBB包围盒树的粗检测方法与图元分离轴测试的精检测构成的二级混合碰撞检测,保证了检测的高效性和精确性。折弯过程中七轴机器人附加移动轴定位的几何法求解,确保了关键路径节点的可达性;基于阻碍控制自适应步长策略的RRT*算法,可实现关键路径节点间的路径自主规划。最后,通过七轴机器人钣金折弯仿真试验,验证了路径规划算法的可行性与高效性。Aiming at the autonomous motion of the seven-axis robot in the process of offline programming simulation of sheet metal bending,a path planning method for seven-axis robot was proposed,which combines the two-level hybrid collision model with the obstacle control adaptive step size RRT*algorithm.The secondary collision detection is composed of the coarse detection method based on the OBB bounding box tree and the fine detection of the primitive separation axis test,which ensures the high efficiency and accuracy of the detection.The geometric method for the positioning of the additional moving axis of the seven-axis robot during the bending process ensures the accessibility of the critical path nodes;the adaptive step size RRT*algorithm based on obstacle control can realize the path autonomous planning between the critical path nodes.Finally,the feasibility and efficiency of the path planning algorithm are verified through a seven-axis robot sheet metal bending simulation test.

关 键 词：七轴机器人 钣金折弯仿真 碰撞检测 路径规划 

分 类 号：TH-39[机械工程] TP391.1[自动化与计算机技术—计算机应用技术]