| 大型不规则曲面加工机器人系统控制设计 |
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| 引用本文： | 袁媛,王之栎,祝明,宗光华.大型不规则曲面加工机器人系统控制设计[J].北京航空航天大学学报,2004,30(4):305-307. |
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| 作者姓名： | 袁媛 王之栎 祝明 宗光华 |
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| 作者单位： | 北京航空航天大学 机械工程及自动化学院, 北京 100083 |
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| 摘 要： | 对在不规则曲面上进行规则图形的加工,基于三自由度直角坐标机器人及二自由度变位机的加工系统,构造了控制软件系统.该系统实现了工程数据库的管理,加工序列的规划,切削路径的生成,自动离线编程与仿真,实时监测与异常处理,工况预测与误差补偿等功能.试验证明,该控制软件能准确、有效、实时地控制加工过程.
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| 关 键 词： | 机器人 控制 曲面 加工序列 |
| 文章编号： | 1001-5965(2004)04-0305-03 |
| 收稿时间： | 2003-11-15 |
| 修稿时间： | 2003年11月15日 |
Design on the control of robot system for machining large irregular curved face |
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| Yuang Yuang,Wang Zhili,Zhu Ming,Zong Guanghua.Design on the control of robot system for machining large irregular curved face[J].Journal of Beijing University of Aeronautics and Astronautics,2004,30(4):305-307. |
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| Authors: | Yuang Yuang Wang Zhili Zhu Ming Zong Guanghua |
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| Institution: | School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China |
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| Abstract: | A system designed for machining regular graphic units on irregular complex curved surface was presented,and this system includes a 3 DOF right angle coordinate robot and a 2 DOF positioner. The software for the system was designed, in which the functions of the engineering database management,generating the job sequence, planning the cutting path, off line programming and simulation, real time monitoring and error handling, predicting for the work condition and error compensation were realized. It was proved by a series of tests that the control software can control the system accurately, effectively and in real time. |
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| Keywords: | robots control curved surface job sequence |
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