摘要
针对机器人抛光自由曲面轨迹规划困难,抛光精度不高等问题,提出了一种机器人抛光轨迹规划方法。该方法在UG软件环境下完成对自由曲面的建模,借鉴铣削加工中刀轨生成方法并结合抛光工艺特点,利用等残余高度算法生成抛光轨迹,在此基础上,提出了改进的Douglas-Peucker算法,该算法用于对抛光刀触点的提取,能够将弓高误差控制在给定的范围内,提高抛光精度,最后根据连续抛光刀位点数据求解出机器人各关节转角。实例表明,该抛光轨迹规划方法精度高,可解决自由曲面抛光轨迹规划问题。
This paper proposes a trajectory planning method for polishing the free-form surface of a robot so that the polishing robot may not have difficulty in planning its free-form surface and can improve its polishing accuracy.This method is based on the UG software environment to establish the free surface model.Based on the toolpath generation method for milling and polishing,the polishing trajectories are generated with the residual height algorithm.With the polishing trajectories generated,the Douglas-Peucker algorithm,which is used to extract the feature points of the polishing knife,is used to control the bow height error within a given range,improve the polishing accuracy and finally solve the robot′s joint angle according to the data on continuous points of the polishing knife.The example shows that the polishing trajectory planning method has a high precision and can solve the free-form surface polishing trajectory planning problem.
作者
梁子龙
丁毓峰
Liang Zilong;Ding Yufeng(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)
出处
《机械科学与技术》
CSCD
北大核心
2018年第10期1489-1495,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51375358)资助
关键词
机器人
抛光
轨迹规划
UG
弓高误差
robot
polishing
trajectory planning
UG
bow height error
