纤维缠绕机器人离线编程及应用
|
摘要
研究了缠绕轨迹网格后处理算法以及机器人运动控制理论,建立基于Matlab和ADAMS的机器人缠绕离线编程及仿真平台。此平台具有针对等距离、等高面、等悬纱长度三种不同出纱方式进行机器人缠绕轨迹CAD设计,并自动生成机器人缠绕执行指令文件的功能;同时借助此平台能实现对缠绕过程的动画仿真与运动曲线分析,达到优化缠绕轨迹的目的。进行了弯管缠绕的仿真实验与物理实验,实验结果表明:此平台可靠实用,缠绕轨迹后处理方便准确,仿真效果理想,能有效的缩短机器人缠绕轨迹开发周期,减少物理实验的次数,降低研发成本。
In this paper,we make a research on mesh post disposal of composite winding and robot motion control theory and establish an off-line wind programming and simulation platform of an industrial robot based on Matlab and ADAMS. It can do CAD of winding path according to equal distance,equal height and equal fiber length three different envelop forms,and generate the executable file on the robot automatically. At the same time,it can optimize the winding path by doing animation simulation and motion analysis of the winding process.Simulation and physical experiments of winding one bent pipe have been done. It shows that the platform is reliable and practical,winding path design is convenient and accurate and the simulation effect is ideal. Simulated experiment can effectively shorten robot winding path development,cut down the times of physical experiments and save the development costs.
In this paper,we make a research on mesh post disposal of composite winding and robot motion control theory and establish an off-line wind programming and simulation platform of an industrial robot based on Matlab and ADAMS. It can do CAD of winding path according to equal distance,equal height and equal fiber length three different envelop forms,and generate the executable file on the robot automatically. At the same time,it can optimize the winding path by doing animation simulation and motion analysis of the winding process.Simulation and physical experiments of winding one bent pipe have been done. It shows that the platform is reliable and practical,winding path design is convenient and accurate and the simulation effect is ideal. Simulated experiment can effectively shorten robot winding path development,cut down the times of physical experiments and save the development costs.
引文
[1]富宏亚,王显锋,韩振宇,路华.复合材料缠绕后置处理方法研究[J].航空学报,2009,30(2):343-347.
[2]POLINI W,SORRENTINO L.Actual Safety Distance and Winding Tension to Manufacture Full Section Parts by Robotized Filament Winding[J].Journal of Engineering Materials and Technology Transactions of the ASME,2006,128(3):393-400.
[3]POLINI W,SORRENTINO L.Winding Trajectory And Winding Time in Robotized Filament Winding of Asymmetric Shape Parts[J].Journal of COMPOSITE MATERIALS,2005,39(15):1391-1411.
[4]POLINI W,SORRENTINO L.Influence of Winding Speed and Winding Trajectory on Tension in Robotized Filament Winding of Full Section Parts[J].Composites Science and Technology,2005(65):1574-1581.
[5]CARRINO L,POLINI W.Method to Evaluate Winding Trajectories in Robotized Filament Winding[J].Journal of Composite Materials,2004,38(1):41-55.
[6]AIZED T,SHIRINZADEH B.Robotic Fiber Placement Process A-nalysis and Optimization Using Response Surface Method[J].International Journal of Advanced Manufacturing Technology,2011,55(1/4):393-404.
[7]许家忠,杨海,高良超,等.基于机器人的复合材料缠绕策略优化[J].复合材料学报,2016,33(6):1318-1326.
[8]许家忠,尤波,孔祥冰.高压水射流切割机器人离线编程系统研究[J].哈尔滨理工大学学报,2009,02:63-65.
[9]王显峰.异型件面片缠绕成型轨迹规划的研究[D].哈尔滨:哈尔滨工业大学,2008.
[10]王显峰,韩振宇,张勇,等.复合材料缠绕法的对比研究[J].硅酸盐学报,2007(3):358-363.
[11]李海晟,梁友栋,鲍虎军.复合材料弯管纤维缠绕路径和机器路径的CAD[J].计算机辅助设计与图形学学报,2003(7):842-846.
[12]蔡锦达,李军华,张剑皓,等.六轴工业机器人在线误差补偿方法的研究[J].控制工程,2014,21(5):638-642.
[13]尤波,张永军,刘天立.机器人运动学及动力学的数学模型[J].哈尔滨科学技术大学学报,1993(2):23-27.
[14]张旭,郑泽龙,齐勇.6自由度串联机器人D-H模型参数辨识及标定[J].机器人,2016(3):360-370.
[15]余晓流,刘进福,汪丽芳,等.基于ADAMS的六自由度焊接机器人运动学分析及仿真[J].安徽工业大学学报(自然科学版),2012,29(1):49-53.
[16]刘永,杨静宇.弧焊机器人工作站离线编程系统-WROBCAM[J].计算机辅助设计与图形学学报,2005(1):190-194.
[17]李鑫,周欣荣,牛滨.Robot焊接过程自适应模糊控制研究[J].哈尔滨理工大学学报,2004(6):21-23.
[2]POLINI W,SORRENTINO L.Actual Safety Distance and Winding Tension to Manufacture Full Section Parts by Robotized Filament Winding[J].Journal of Engineering Materials and Technology Transactions of the ASME,2006,128(3):393-400.
[3]POLINI W,SORRENTINO L.Winding Trajectory And Winding Time in Robotized Filament Winding of Asymmetric Shape Parts[J].Journal of COMPOSITE MATERIALS,2005,39(15):1391-1411.
[4]POLINI W,SORRENTINO L.Influence of Winding Speed and Winding Trajectory on Tension in Robotized Filament Winding of Full Section Parts[J].Composites Science and Technology,2005(65):1574-1581.
[5]CARRINO L,POLINI W.Method to Evaluate Winding Trajectories in Robotized Filament Winding[J].Journal of Composite Materials,2004,38(1):41-55.
[6]AIZED T,SHIRINZADEH B.Robotic Fiber Placement Process A-nalysis and Optimization Using Response Surface Method[J].International Journal of Advanced Manufacturing Technology,2011,55(1/4):393-404.
[7]许家忠,杨海,高良超,等.基于机器人的复合材料缠绕策略优化[J].复合材料学报,2016,33(6):1318-1326.
[8]许家忠,尤波,孔祥冰.高压水射流切割机器人离线编程系统研究[J].哈尔滨理工大学学报,2009,02:63-65.
[9]王显峰.异型件面片缠绕成型轨迹规划的研究[D].哈尔滨:哈尔滨工业大学,2008.
[10]王显峰,韩振宇,张勇,等.复合材料缠绕法的对比研究[J].硅酸盐学报,2007(3):358-363.
[11]李海晟,梁友栋,鲍虎军.复合材料弯管纤维缠绕路径和机器路径的CAD[J].计算机辅助设计与图形学学报,2003(7):842-846.
[12]蔡锦达,李军华,张剑皓,等.六轴工业机器人在线误差补偿方法的研究[J].控制工程,2014,21(5):638-642.
[13]尤波,张永军,刘天立.机器人运动学及动力学的数学模型[J].哈尔滨科学技术大学学报,1993(2):23-27.
[14]张旭,郑泽龙,齐勇.6自由度串联机器人D-H模型参数辨识及标定[J].机器人,2016(3):360-370.
[15]余晓流,刘进福,汪丽芳,等.基于ADAMS的六自由度焊接机器人运动学分析及仿真[J].安徽工业大学学报(自然科学版),2012,29(1):49-53.
[16]刘永,杨静宇.弧焊机器人工作站离线编程系统-WROBCAM[J].计算机辅助设计与图形学学报,2005(1):190-194.
[17]李鑫,周欣荣,牛滨.Robot焊接过程自适应模糊控制研究[J].哈尔滨理工大学学报,2004(6):21-23.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |