论文部分内容阅读
提出金属橡胶自动化铺设工艺,基于该工艺和数控铺设设备,以金属橡胶构型、定位销排布、既定路径为基础,设计了通用的毛坯3D自动铺设轨迹生成方法。该方法将以定位销编号排序为表现形式的路径变成机械手实际移动轨迹。机械手移动轨迹与既定路径一致,螺旋卷能钩挂在相应的定位销上,且避免了机械手与定位销发生碰撞,避免了机械手与已铺设的螺旋卷发生勾连,实现了金属橡胶毛坯三维自动化连续铺设。
Based on this technology and numerical control equipment, based on the configuration of metal rubber, arrangement of positioning pins and established path, a universal method for 3D automatic laying trajectory of blank is designed. This method turns the path sorted by the locating pin numbers into a manifestation into the actual robot movement path. The movement trajectory of the robot is consistent with the established path, the spiral coil can be hooked on the corresponding positioning pin, the collision between the manipulator and the positioning pin is avoided, the connection between the manipulator and the spiral coil laid is avoided, and the three-dimensional automation of the metal rubber blank is realized continuously layout.