大型风力机复杂叶片机器人自动喷涂路径规划

为缩短传统叶片制造过程中喷涂工艺所花的时间,设计一种单导轨双悬臂式单枪喷涂机器人,并制定一种针对大型复杂风力机叶片进行机器人自动喷涂的方案。先建立所喷涂叶片的三维模型,然后通过喷涂工艺参数和模型曲面外形特征来设计喷涂轨迹,再从轨迹线条中提取能够表示关键特征的三维坐标点数据,接着采用D-H参数对喷涂机器人进行建模,求取了运动正、逆解,从而把笛卡尔坐标系下的三维坐标转化为机器人关节参数。最后在此基础上通过RobotStudio软件进行仿真实验,验证喷涂工作是否顺利完成、所截取的插补点位、轨迹间隔是否合理,为大型叶片自动喷涂装置的研制提供参考。

Study on Robot Automatic Spraying Path Planning for Large Wind Turbine Blades

In order to shorten spraying time in traditional manufacturing process of wind turbine blade, a single rail double cantilever single gun spraying robot was designed, and a robot automatic spraying method was developed for large complex wind turbine blades. Firstly, the three dimensional model of spraying blade was established, the spray trajectory was designed according to the spraying process parameters and model shape features, the 3D point data represented the key features were extracted from the track line, then the D-H parameters of the spraying robot were used to model and the kinematics and inverse kinematics were calculated,so the 3D coordinates under Descartes coordinates were translated into robot joint parameters. Finally, based on this, the simulation experiment was carried out by RobotStudio software to verify whether the spray work was successfully completed, and whether the interpolation point and track interval were reasonable.This research provides reference for the development of the automatic spraying device for large blades.