为解决机器人表面制造作业中传统人工示教方法耗时长、易出错和过于依赖工人技术等局限性,提出一种基于CAD的机器人表面制造工具轨迹规划方法.该方法首先通过Pro/E建立工件参数化模型,然后对模型直接进行切片并通过点分析功能获得路径节点信息,最后根据路径节点信息和改进的姿态计算方法得到机器人工具轨迹.仿真结果表明该方法与基于stl机器人工具路径生成方法相比,得到的机器人工具路径在法向姿态信息上平均减少0.07317 rad偏差,在位置信息上平均减少19.16857 mm偏差.根据所提出的方法和步骤通过机器人铣削实际加工实验,证明该方法可以实现对工件模型表面作业机器人工具的轨迹规划及该方法的有效性.%The traditional artificial teaching methods of the robot surface manufacturing process have some limitations. They are time-consuming, error-prone and overly dependent on technology workers, etc. To solve the problems, the CAD-based tool path planning method of robots for surface manufacturing was pro-posed. Firstly the workpiece model was established in Pro/E. Secondly, the CAD model was sliced directly by a set of planes and then the information of tool path tag point could be obtained by the point analysis function in Pro/E. Finally, the path tag point and the improved orientation calculating method were used to generate the robot tool path automatically. The simulation experiments indicate that it could generate the ro-bot tool path for surface manufacturing automatically; compared with stl-based robot tool path planning method, the CAD-based robot tool path planning method could reduce the mean variation in the normal vec-tor information by 0. 07317rad and in the position information by 19. 16857mm. The robot milling experi-ment in the laboratory demonstrates that the proposed methods could generate the robot tool path for surface manufacturing and validates the effectiveness of the proposed methods.
展开▼
