串联九自由度喷涂机器人及其运动学分

doi:10.3901/JME.2020.23.165

机械工程学报 ›› 2020, Vol. 56 ›› Issue (23): 165-171.doi: 10.3901/JME.2020.23.165

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串联九自由度喷涂机器人及其运动学分

齐有泉^1,2, 李艳文^1,2, 陈子明^1,2, 孔繁栋^1,2, 杨晓坤^1,2, 朱为国³

1. 燕山大学河北省并联机器人与机电系统实验室秦皇岛 066004;
2. 燕山大学机械工程学院秦皇岛 066004;
3. 淮阴工学院先进制造技术重点实验室淮安 223003

收稿日期:2019-08-16 修回日期:2020-01-21 出版日期:2020-12-05 发布日期:2021-01-11
作者简介:李艳文(通信作者),女,1966年出生,博士,教授,硕士研究生导师。主要研究方向为机器人技术及应用。E-mail:ywl@ysu.edu.cn;齐有泉,男,1993年出生,硕士研究生。主要研究方向为机器人技术及应用。E-mail:862925832@qq.com;陈子明,男,1984年出生,博士,副教授,硕士研究生导师。主要研究方向为机器人技术及应用。E-mail:zmchen@ysu.edu.cn
基金资助:
国家自然科学基金（51775474）、河北省重点研发计划（19221909D）、河北省自然科学基金（E2016203321）和江苏省重点实验室项目（HGAMTL-1708）资助项目。

Design and Kinematics’ Analying of a Series Nine-degree-of-freedom Spraying Robot

QI Youquan^1,2, LI Yanwen^1,2, CHEN Ziming^1,2, KONG Fandong^1,2, YANG Xiaokun^1,2, ZHU Weiguo³

1. Parallel Robot and Mechatronic System Laboratory of Hebei Province, Yanshan University, Qinhuangdao 066004;
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004;
3. Advanced Manufacturing Technology Key Laboratory, Huaiyin Institute of Technology, Huaian 223003

Received:2019-08-16 Revised:2020-01-21 Online:2020-12-05 Published:2021-01-11

摘要/Abstract

摘要： 在工业生产中，喷涂是重要的加工过程，喷涂机器人已经广泛应用于喷涂行业，但复杂工件的内表面喷涂还多依赖人工完成。针对多腔室多障碍的大型构件内壁的喷涂，提出一种新型九自由度喷涂机器人。根据多腔室多障碍大型构件的结构特点，按功能将此机器人结构划分为工作定位装置、工作执行装置和辅助支撑装置；基于D-H参数法，建立此机器人的数学模型，进行正解的求取；给出一种冗余机器人计算反解的方法：根据喷涂不同方位的腔壁对前三个关节进行角度预设，从而保证喷涂目标面处于工作执行装置的灵活工作空间；根据关节7工作空间的特性，采用正向求解和逆向求解分别得到关节7的位置坐标，并反推关节6的位姿，进而得到其他关节角度值完成反解。此求解方法得到的反解能够保证机器人在对同一壁面喷涂时具有相似的构型姿态，解决了反解过多、求解难度大、解筛选困难的问题，极大地提高反解的求解速度。

关键词: 喷涂机器人, 反解, 冗余机构

Abstract: Spraying is an important process in industrial production. Spraying robot has been widely used in spraying industry, but the task of spraying the inner surface of complex workpiece still depends on manual operation. The main content of this paper is to design a new spraying robot to spray the inner wall of large components with multiple compartments and obstacles. According to the structural characteristics of multi-chamber and multi-obstacle large components, a robot with 9 degrees of freedom is presented, the robot manipulator is divided into working positioning device, work execution device and auxiliary support device. Based on the D-H parameter method, the mathematical model of the nine-degree-of-freedom robot is established, and the positive solution is obtained. A new method for calculating the inverse solution of redundant robot is proposed. According to the different directions of the cavity wall, the angles of the first three joints are preset to ensure that the spraying target plane is in the flexible working space of the working execution device. Considering the characteristics of the workspace of joint 7, the position coordinates of joint 7 are obtained by forward solution and inverse solution, the position and posture of joint 6 are derived, and then the inverse solution is completed by solving the angle values of other joints. The inverse solution obtained by this method can ensure that the robot has a similar configuration pose when spraying on the same wall, which solves the problems of the selection of too many inverse solutions, and greatly improves the solving speed of the inverse solution.

Key words: spraying robot, inverse solution, redundant mechanism

中图分类号:

TH112

齐有泉, 李艳文, 陈子明, 孔繁栋, 杨晓坤, 朱为国. 串联九自由度喷涂机器人及其运动学分[J]. 机械工程学报, 2020, 56(23): 165-171.

QI Youquan, LI Yanwen, CHEN Ziming, KONG Fandong, YANG Xiaokun, ZHU Weiguo. Design and Kinematics’ Analying of a Series Nine-degree-of-freedom Spraying Robot[J]. Journal of Mechanical Engineering, 2020, 56(23): 165-171.

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串联九自由度喷涂机器人及其运动学分

Design and Kinematics’ Analying of a Series Nine-degree-of-freedom Spraying Robot

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