摘要
激光熔覆修复的破损区域为曲率变化大的自由曲面时,加工轨迹不易规划,熔覆精度受影响。针对此问题,提出了一种将快速生成的轨迹点集按特征类型进行区域划分的方法。机械臂在相同区域工作时关节角度变化较小,配合变位机将相邻区域内的轨迹点调至满足熔覆质量要求的位姿。建立了机器人与变位机的运行模型,达到了协调配合的目的,满足了激光加工精度要求,提高了机器人修复曲面零件的效率。
It is difficult for path planning of processing and the cladding accuracy is susceptible when the damaged area repaired by laser cladding is a free-form curved surface with an obvious curvature change.As for the above problem,a method of regionalization of the fast generated trajectory point set according to feature type is proposed.The joint angle of robot arm has a little change when working in the same area.The track points in the adjacent area are adjusted to meet the requirement of cladding quality under the coordination of the positioner.The operation model of robot and positioner is established and the aim of their coordination is obtained.The precision requirement of laser processing is met and the efficiency of robot repair of curved parts is improved.
作者
刘金朵
孙文磊
黄勇
Liu Jinduo;Sun Wenlei;Huang Yong(School of Mechanical Engineering,Xinjiang University,Urumqi,Xinjiang 830047,Chin)
出处
《激光与光电子学进展》
CSCD
北大核心
2018年第7期308-315,共8页
Laser & Optoelectronics Progress
基金
新疆高技术研究发展项目(201513102)
新疆维吾尔自治区自然科学基金(2016D01C055)
关键词
激光技术
激光熔覆
曲面零件
轨迹规划
区域划分
协调配合
laser technique
laser cladding
curved surface part
trajectory planning
region partitioning
coordination
