玻璃钢管道相贯线机器人铣削轨迹规划

针对目前玻璃钢管相贯线开孔工艺中存在的管道型号繁多、手工不易加工以及普通铣削机床适应性较差等问题，利用机器人的高度灵活性、适用范围广和自动化程度高等柔性特征，研究了机器人铣削玻璃钢管道相贯线的轨迹规划。迹建立了管道相贯线的坡口模型，计算出每个轨迹点的铣削厚度；基于机器人逆运动学，对机器人的空间连续运动轨迹进行了规划；设计了机器人铣削工作站运行该轨迹；最后对工作站的铣削性能进行了实验验证。实验结果表明，坡口表面光滑平整，该机器人工作站连续性好，自动化程度高，能够很好地完成玻璃钢管相贯线的铣削工作。

Trajectory Planning of Robots for Milling Intersecting Curves of FRP Pipes

In light of existing problems in the process of cutting intersecting curves of FRP pipes at present, such as various types of pipes, difficulties in manual processing and poor adaptability in ordinary milling machines, the trajectory planning of robots for milling intersecting curves of FRP pipes was researched by using flexible characteristics of robots, such as high degree of sensitivity, wide application range and high automation level. The groove models of pipe's intersecting lines were established. The thicknesses of every track points were calculated. Based on robot inverse kinematics, continuous space trajectories of robots were planned. The robot milling workstation was designed to run the track, the milling property of working station was tested in experiments. The experimental results show that the groove surfaces are smoothing. The robot station has good continuity and high automation level, and may complete the milling work on intersecting curve of FRP pipes may be greatly.