激光熔覆机器人曲面自由路径仿真与实现  

Simulation and Implementation of Free-form Path on Curved Surface of Laser Cladding Robot

作　　者：刘敏颖 孙文磊[1] 惠虎静 任向宇 张东晗 LIU Minying;SUN Wenlei;HUI Hujing;REN Xiangyu;ZHANG Donghan(School of Mechanical Engineering,Xinjiang University,Urumqi 830046,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830046

出　　处：《热加工工艺》2024年第19期67-74,共8页Hot Working Technology

基　　金：新疆自治区重点实验室开放基金项目(2020520002)。

摘　　要：为满足机器人激光熔覆修复曲面叶轮片的要求,提出一种针对复杂曲面零件自由路径机器人可执行程序的快速生成方法。使用UG/Open API开发工具编写了在NURBS曲面上获得路径点位姿数据的算法程序。在matlab软件的Robotics工具箱建立MH24机器人仿真模型,对位姿数据进行轨迹分析,研究机器人运动时关节位移随时间的变化,以判断位姿数据的合理性。在matlab环境中,将合理的位姿数据作为参数,根据MH24机器人可执行文件格式,即JBI文件,编写快速生成JBI文件的算法。将JBI文件加载至MotosimEG-VRC软件进行仿真,验证了JBI文件的有效性。最后通过实验验证,曲面修复效果很好。这为曲面叶轮片零件的激光熔覆修复提供了可行的方案。In order to meet the requirements of robot laser cladding to repair curved impellers,a fast generation method of robot executable program for free-form path on complex curved surface parts was proposed.The algorithm procedures for obtaining path point pose data on NURBS surface were written using UG/Open API development tools.The simulation model of MH24 robot was established with MATLAB Robotics toolbox,and the trajectory analysis of pose data was carried out to study the variation of joints'displacement with time during robot movement,so as to judge the rationality of pose data.In the matlab environment,reasonable pose data were taken as parameters,the algorithm to generate JBI file quickly was written according to the MH24 robot executable file format.The validity of JBI file was verified by loading the JBI file into MotosimEG-VRC software for simulation.Finally,through the experimental verification,it show that the repair effect is good.It provides a feasible scheme for laser cladding repair of curved impeller parts.

关 键 词：工业机器人 激光熔覆 路径规划 曲面零件 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TG456.7[自动化与计算机技术—控制科学与工程]