复杂曲面随形打印变形机器人逆解算法与控制研究

Research on Inverse Kinematics Algorithm and Control Method of Parametric Robot for Printing Free Curve on Complex Surface

为了缩短机器人的研发周期,加快多类构型机器人面向复杂曲面零件的特种加工应用落地,将参数化设计思想融入到从设计到应用的整个周期,结合逆解算法、模块化设计、3D打印技术、逆向技术、数字仿真技术、机电一体化技术等设计出可变形机器人开发系统。输入机器人的几何参数,即可快速完成机器人模型设计、路径规划、可视化编程、动力学仿真、硬件组装及试验。该变形机器人方法可匹配大多数厂家机器人,快速对复杂零件激光加工、喷涂、喷丸、焊接、打磨等自由路径随形编程,易于再开发扩展应用。利用该系统开发变形机器人,完成曲面随形打印写字,验证系统的高效性和可行性。

In order to shorten the robot research and development cycle and speed up the application of the different configurations robot for complex curved surface parts,integrating parametric design idea into the entire design-to-application cycle,a parametric robot system was designed with various techniques including the inverse kinematics algorithm,modular design,3D printing technology,reverse technology,digital simulation technology,mechanical and electrical integration technology,et al.The parametric robot system can be used to quickly complete robot model design,path planning,visual programming,dynamics simulation,hardware assembly and testing by inputting the robot’s geometric parameters.The parametric robot system is suitable for many industrial robots on the market,it can quickly program complex parts for laser processing,painting,shot peening,welding,and grinding,and easy to redevelop and expand applications.At last,a 3D printing parametric robot was manufactured by the system.A Chinese character was printed on a complex surface by the robot.The feasibility and efficiency of this scheme is proved.