面向多联体叶片的机器人喷涂无干涉路径规划

doi:10.3901/JME.2024.01.210

机械工程学报 ›› 2024, Vol. 60 ›› Issue (1): 210-219.doi: 10.3901/JME.2024.01.210

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面向多联体叶片的机器人喷涂无干涉路径规划

漆琪¹, 刘礼祥², 杨吉祥¹, 丁汉¹

1. 华中科技大学智能制造装备与技术全国重点实验室武汉 430074;
2. 中国航发沈阳黎明航空发动机有限责任公司沈阳 110043

收稿日期:2023-04-29 修回日期:2023-09-15 发布日期:2024-03-15
作者简介:漆琪，男，2000年出生，博士研究生。主要研究方向为6R机器人路径规划。E-mail：qqi@hust.edu.cn
杨吉祥(通信作者)，男，1987年出生，博士，教授，博士研究生导师。主要研究方向为机器人和数控加工技术与装备。E-mail：jixiangyang@hust.edu.cn
基金资助:
国家重点研发计划(2020YFB1710402)、国家自然科学基金(52122512, 52188102)和湖北省自然科学基金(2021CFA075)资助项目。

Interference-free Path Planning for Robot Spraying for Multi-body Blades

QI Qi¹, LIU Lixiang², YANG Jixiang¹, DING Han¹

1. State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074;
2. AECC Shenyang Liming Aero-Engine Co., Ltd., Shenyang 110043

Received:2023-04-29 Revised:2023-09-15 Published:2024-03-15

摘要/Abstract

摘要： 多联体叶片存在曲面复杂、叶片间距小等结构特点。等离子喷涂为铸造多联体叶片的重要工序，可使叶片表面强化与改性，其喷涂质量直接决定叶片的成品率与性能。现有的机器人等离子喷涂的路径生成主要依靠手动示教，而喷涂过程中的喷涂距离与喷涂夹角无法量化导致喷涂质量不均且示教方法繁琐、效率低。基于此，提出一种面向多联体叶片的工业机器人等离子喷涂无干涉路径生成及光顺方法。首先，根据CAD模型，将多联体叶片型面转为非均匀有理B样条(NURBS)曲面，利用NURBS曲面解析特性，生成约束喷涂行距与喷涂叶片边缘距离的初始路径点；然后将喷涂焰流简化为方向包围盒，将干涉曲面转为三角面片，采用基于分离轴检测的方法进行碰撞干涉检测，生成考虑最小喷涂倾角约束的喷涂姿态。采用基于球面样条四元数插值变步长姿态优化方法进行姿态光顺，生成无干涉且路径光顺的喷涂路径。经过仿真与实验验证，提出干涉避免算法能有效避免喷涂过程中的干涉现象。对比未光顺路径，所提出算法机器人运行效率提高52.6%，机器人振动下降，运行更加平稳，其中关节加速度最大下降55.8%，最小下降2.9%，末端瞬时加速度最大下降39.6%，最小下降14.4%。

关键词: 多联体叶片, 机器人喷涂, 干涉检测, 路径光顺

Abstract: Multi-body blades have structural characteristics such as complex curved surfaces and small blade spacing. Plasma spraying is an important process of casting multi-body blades, which can strengthen and modify the surface of the blades, and the quality of the spraying directly determines the yield and performance of the blades. The path generation of the existing robot plasma spraying mainly relies on manual teaching, and the spraying distance and spraying angle during the spraying process cannot be quantified, resulting in uneven spraying quality, cumbersome teaching methods and low efficiency. Based on this, this paper proposes an interference-free path generation and smoothing method for plasma spraying of industrial robots for multi-body blades. Firstly, according to the CAD model, the multi-body blades surface is transformed into a non-uniform rational B-spline(NURBS) surface. Using the analytical characteristics of NURBS surface, the initial path points constrained the distance between spraying rows and spraying blade edges are generated. The spray flame flow is simplified as the Oriented bounding box(OBB) model, the interference surface is converted to a triangular surface, and the collision interference detection method based on separation axis detection is used to generate the spray attitude with the minimum spray inclination angle. The pose optimization method based on Spherical Spline Quaternion interpolation (Squad) interpolation is adopted for attitude smoothing to generate a non-interference and smooth spraying path. Through simulation and experimental verification, the proposed algorithm can effectively avoid the interference phenomenon in the process of spraying. Compared with the unsmoothed path, the proposed algorithm increases the operating efficiency of the robot by 52.6%, the vibration of the robot decreases, and the operation is more stable. The maximum joint acceleration decreases by 55.8%, the minimum decrease by 2.9%, the instantaneous acceleration of the end decreases by 39.6%, and the minimum decrease by 14.4%.

Key words: multi-body blade, robot spraying, interference detection, path smoothing

中图分类号:

TP242

漆琪, 刘礼祥, 杨吉祥, 丁汉. 面向多联体叶片的机器人喷涂无干涉路径规划[J]. 机械工程学报, 2024, 60(1): 210-219.

QI Qi, LIU Lixiang, YANG Jixiang, DING Han. Interference-free Path Planning for Robot Spraying for Multi-body Blades[J]. Journal of Mechanical Engineering, 2024, 60(1): 210-219.

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面向多联体叶片的机器人喷涂无干涉路径规划

Interference-free Path Planning for Robot Spraying for Multi-body Blades

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