JZ-3型水轮机修复机械手路径轨迹规划

针对水轮机修复机械手在水轮机转轮的异性叶片曲面上焊接的路径轨迹规划问题,在概述了水轮机修复专用机械手运动方程的基础上,论述了经过修订的两种笛卡尔空间路径轨迹规划算法.为使规划的路径轨迹准确通过补焊位置而减小误差,同时尽可能使工作路径涵盖绝大部分的水轮机叶片曲面,提出了任意四边形内多焊道等宽路径轨迹规划的概念、算法和相应步骤.编程和仿真显示此方法可用于异形曲面的路径轨迹规划,并使焊道涵盖90%左右的水轮机叶片表面.

Path Trajectory Planning of Manipulator for Repairing Hydraulic Turbine

Abstract：For the path trajectory planning that manipulator for repairing hydraulic turbine weld on complicated curved surface of hydraulic turbine, kinematics agenda of manipulator for repairing hydraulic turbine is summarized, based on which, two modified algorithms path trajectory planning are discussed. In order to make the planned path trajectory pass the location of repairing welding as accurately as possible, and make the work path cover most of the blade surface of hydraulic turbine as much as possible, the concept of trajectory planning of aequilate path of multi- pass welding in any square and corresponding algorithm and procedures are presented. Programming and simulation demonstrate that the method could be used for the path trajectory planning of curved surface and make the work path cover around 90% of the blade surface of hydraulic turbine.