拖动示教喷涂机器人的设计与优化

Design and Optimization of Drag Teaching Spraying Robot

针对通用编程示教喷涂机器人编程复杂、不适用于产品快速变更的生产需求的问题,设计了拖动示教喷涂机器人,并对运动数据进行优化。提出机构设计方案,对重要机构的平衡进行了分析与计算。对人工拖动喷涂机器人运动时由于速度不均匀造成的再现轨迹偏差失真问题,提出了动作优化的方法。通过划分优化区域,求运动轨迹的三次样条曲线,插值被代入运算。经实例证明,将优化后的动作数据重新载入拖动示教机器人处理器内,优化后的速度曲线由原来的折线变成了流畅的曲线,使得该机器人运动速度平稳,转动轨迹平滑。

Aiming at the problem that the general programming teaching spraying robot programming is complicated and is not suitable for the production requirements of rapid product changes,a drag teaching spraying robot was designed and the motion data was optimized.The mechanism design scheme was proposed,and the balance of important mechanisms was analyzed and calculated.A motion optimization method was proposed to solve the problem of the track deviation distortion caused by the uneven speed when the spraying robot was manually moved.By dividing the optimization area,the cubic spline curve of the motion trajectory was obtained,and the interpolation was substituted into the operation.It is proved by examples when the optimized motion data is reloaded into the drag teaching robot processor,the optimized speed curve changes from the original polyline to a smooth curve,which makes the robot move with a stable speed and smooth rotation trajectory.