摘要
针对基于磁场和摩擦学原理的纸基蜂窝芯零件固持新方法,提出了基于工业机器人的自动填料工艺,进而提出了机器人填料作业离线编程的实现方法。重点论述了基于机器人的填料工艺的离线编程实现方法,研究了填料区域规划、运动学计算、生成机器人填料作业程序以及机器人填料作业仿真等。采用VC++语言开发了基于机器人驱动的填料系统,并以某型号飞机方向舵蜂窝零件为例进行填料仿真,通过仿真分析,验证了基于工业机器人的自动填料工艺的可行性,并可以有效地提高蜂窝零件的加工精度和效率。
With regard to a new fixation method based on magnetic field and friction clamping in paper honeycomb parts,the technics of automatic material pouring by an industrial robot is presented,and the method for off-line programming is given in material pouring.We discussed in detail the method of off-line programming for material pouring technics,the feed region planning,the kinematics calculation,the process of compiling the material pouring program of the robot and the simulation of material pouring of the robot.We developed the material pouring system with VC ＋ ＋.NET,and validated the feasibility of the method with emulation.Simulation study shows that the manufacturing precision and efficiency of paper honeycomb parts can be greatly improved.
出处
《机械科学与技术》
CSCD
北大核心
2010年第10期1329-1333,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(50705085)
浙江省自然科学基金资助项目(Y1090572)资助
关键词
蜂窝
填料
机器人
离线编程
honeycomb
material pouring
robot
off-line programming
