基于喷涂机器人系统的飞机进气管道内壁测量路径规划研究

Research on Measurement Path Planning for Inner Wall of Airplane Intake Pipe Based on Spraying Robot System

针对飞机进气管道内壁喷涂问题,研究了一种基于喷涂机器人系统与激光测距传感器相结合的扫描测量路径规划算法。扫描测量路径规划是进气管道模型重建和喷涂的前提和基础。常用的圆弧外延法和多项式法仅适用于有界曲率曲线。根据飞机进气管道截面曲线多样性特点重点提出了预扫描测量法,互补于现有算法。通过仿真和实验可知:该研究解决了飞机管道内壁无碰撞测量扫描的问题。

Aimed at inner wall of pipe, an algorithm of measurement path planning based on spraying robot system is introduced.It is premise and basis of model construction and spray.The method of arc length extrapolation and polynomial are simple and prevalent,but they just can meet the need of plant curve which has a finite maximum curvature.Combined with current methods,this paper focuses on pre-scanning measurement method for different cross section curve.The algorithm simulation and model reconstruction test show that this study solves the problem of scanning measurement with collision free for inner wall of airplane intake pipe.