机器人制孔系统自主镜像运动规划研究  

Research on Autonomous Mirror Motion Planning of Robot Drilling System

作　　者：杨帆 田威[2] 戴家隆[2,3] YANG Fan;TIAN Wei;DAI Jialong(Shanxi Aircraft Industry Company Limited,Hanzhong 723213,China;College of Mechanical and Electronic Engineering,Nanjing University of Aeromautics and Astronautics,Nanjing 210016,China;Jiangsu Hangding Intelligent Equipment Co.,Ltd.,Nanjing 211153,China)

机构地区：[1]陕西飞机工业有限责任公司,陕西汉中723213 [2]南京航空航天大学机电学院,江苏南京210016 [3]江苏航鼎智能装备有限公司,江苏南京211153

出　　处：《机械制造与自动化》2025年第2期27-31,共5页Machine Building & Automation

摘　　要：针对机器人镜像制孔的运动规划问题,通过DH参数法建立机器人的运动学方程,利用蒙特卡罗法求解机器人的工作空间,为机器人镜像制孔的运动规划奠定基础。基于运动学理论设计一种机器人镜像制孔运动规划算法,针对不同的机器人加工轨迹参考任意平面生成镜像机器人制孔加工点的位姿,实现机器人镜像制孔的自动运动规划。在RobotStudio中建立机器人镜像制孔工作站,验证镜像运动规划的可行性,极大地提高了机器人制孔的效率和质量。Focusing on the motion planning of robot mirror drilling,the kinematic equation of the robot was established by the DH parameter method,and the Monte Carlo method was applied to calculate the robot's workspace,laying the foundation for the motion planning of robot mirror hole making.A robot motion planning algorithm of mirror drilling was designed based on kinematic theory,generating the pose of mirror robot drilling points for different robot machining trajectories by referencing any plane,thus the automatic motion planning for robot mirror drilling being achieved.A robot mirror drilling workstation was completed in RobotStudio,which verifies the feasibility of image motion planning and greatly improves the efficiency and quality of robot drilling.

关 键 词：制孔机器人 运动学分析 自动制孔 镜像运动规划 离线编程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]