论文部分内容阅读
为喷涂飞机等大型工件,通常使用移动平台将6DOF喷涂机器人输送到不同站位进行喷涂.本文旨在为当前喷涂路径寻找使得机器人运动学性能最佳的站位.首先提出并利用外腕心的概念对喷涂机器人的空心手腕做球形近似,解决机器人不可解耦问题,并获得了其封闭形式的逆运动学解及位置、姿态和避奇异约束的具体表现形式.而后,基于约束和关节可用度指标,建立了关于站位的单点和连续喷涂任务代价函数,用以定量评估站位对机器人运动性能的影响.最后,通过内罚函数法最小化代价函数,对应的站位即为最佳站位.在平面、圆柱面和圆台面上的仿真实验结果验证了近似模型的准确性和此方法的有效性,且与现有方法相比,算法效率提升了百倍以上.
In order to spray large-scale workpieces such as aircraft and so on, mobile platform is usually used to transport 6DOF painting robots to different stations for spraying.This paper aims to find the most suitable station for the current spraying path, which makes the robot kinematics the best.Firstly, The concept of spherical robot wrist hollow approximation to solve the problem of the robot can not be decoupled and obtained its closed form of inverse kinematics and position, attitude and avoidance of the specific constraints of the form of constraints.And then, based on constraints and joint availability Index to establish a single-point and continuous spraying task cost function on the station to quantitatively evaluate the station’s impact on the robot’s performance.Finally, through the penalty function method to minimize the cost function, the corresponding station is the best The experimental results on plane, cylindrical and circular mesa verify the accuracy of the approximate model and the effectiveness of this method. Compared with the existing methods, the efficiency of the algorithm is improved more than 100 times.