摘要
介绍了大型零部件移动加工过程中机器人路径规划技术的研究状况。建立系统所涉及的坐标系并分析坐标系的转换,通过离线编程技术对系统进行路径规划和运动仿真,最后进行实际加工试验。试验平台测试结果表明,离线路径规划实现了工业机器人在移动过程中的加工操作,适用于航空航天等大型零部件的加工。
An introduction was given on research status of robot path planning technology during mobile processing of large parts. Built the coordinate system for the system to analyze the transformation of the coordinate system, and then with the help of off-line programming technology the path planning and motion simulation were conducted, and finally, they were tested in practical processing. The test results on experimental platform show that off-line path planning could realize machining operations by industrial robot during mobile processing; this approach is suitable for machining of large aerospace parts.
出处
《机械制造》
2016年第9期22-25,29,共5页
Machinery
基金
上海市科学技术委员会科技支撑项目(编号:14111104502)
上海市科学技术委员会国际交流项目(编号:15550721900)
关键词
移动加工
工业机器人
离线编程
路径规划
Mobile Processing Industrial Robot Off-line Programming Path Planning
