| 基于慧鱼模型对焊接机器人无碰撞轨迹规划的研究 |
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| 引用本文： | 漆向军,刘武,刘明丹,张黎骅. 基于慧鱼模型对焊接机器人无碰撞轨迹规划的研究[J]. 机械科学与技术, 2007, 26(11): 1442-1446 |
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| 作者姓名： | 漆向军 刘武 刘明丹 张黎骅 |
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| 作者单位： | 四川农业大学,信息与工程技术学院,雅安,625014;贵阳空管中心气象设备室,贵阳,550005 |
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| 摘 要： | 根据焊接机器人加工过程中所要完成的轨迹及避障任务,进行了机器人沿一定轨迹运动的无碰撞轨迹规划。首先通过同心圆柱面配合切面投影方法来细化机器人工作空间,寻优无碰撞加工路径。再基于慧鱼(fishertechnik)创意组合模型组装了三个自由度的焊接机器人来验证其加工轨迹。最后借助仿真软件获得优化的机器人三维空间加工路径。
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| 关 键 词： | 焊接机器人 无碰撞轨迹 仿真 |
| 文章编号： | 1003-8728（2007）11-1442-05 |
| 修稿时间： | 2006-12-07 |
Research on Program for Non-collision Track of a Welding Robot Based on Fishertechnik Model |
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| Qi Xiangjun,Liu Wu,Liu Mingdan,Zhang Lihua. Research on Program for Non-collision Track of a Welding Robot Based on Fishertechnik Model[J]. Mechanical Science and Technology for Aerospace Engineering, 2007, 26(11): 1442-1446 |
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| Authors: | Qi Xiangjun Liu Wu Liu Mingdan Zhang Lihua |
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| Affiliation: | 1 Information and Engineering Technology College, Sichuan Agricultural University,Yaan 625014; 2 Guiyang Air Traffic Management Centre of CAAC ,Guiyang 550005 |
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| Abstract: | Based on the track and barrier-void task of a welding robot in the period of machining,we present a program for non-collision track of robot movement.We first search the machining route through subdividing the working space by the homocentric face of a cylinder tie in projection of a section.Then we assemble the welding robot with three swings according to the fishertechnik model in order to confirm the track of machining.Finally,we obtain the optimal machining track by software simulation. |
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| Keywords: | welding robot non-collision track simulation |
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