检索结果-内蒙古大学图书馆

A convex programming approach to the base placement of a 6-DOF articulated robot with a spherical wrist

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2019年第9-12期102卷 3135-3150页

作者： Son, Seung-Woo Kwon, Dong-Soo Korea Adv Inst Sci & Technol Dept Mech Engn 291 Daehak Ro Daejeon 34141 South Korea

Robot manipulators are widely used in various areas of industrial factory automation. However, their base positioning is still achieved through trial-and-error methods based on the intuition and expertise of the engineer, even with the use of off-line programming software. Most previous studies do not provide on-line or on-site solutions suitable for practical applications because the nonlinearity and derivative complexity of the robot kinematics result in heavy computational burden and lengthy processing times. In this paper, we suggest a convex programming approach that uses time-efficient and reliable methods to solve the optimization problem in order to determine the base position of a six-degrees-of-freedom articulated robot with a spherical wrist. The proposed method uses convex optimization to accurately check the reachability of the given task without solving the inverse kinematics and to determine the feasible base position to satisfy singularity avoidance and spatial limitations. The feasibility of the proposed method is evaluated through various simulations, and the results show that not only the feasible base position but also the range of allowable base locations as an ellipsoidal volume can be provided within a few minutes without high computing performance or large resources.

关键词： Robot placement Robot positioning off-line programming Robot cell design Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Direct off-line robot programming via a common CAD package

引用

ROBOTICS AND AUTONOMOUS SYSTEMS 2013年第8期61卷 896-910页

作者： Neto, Pedro Mendes, Nuno Univ Coimbra Dept Mech Engn POLO 2 CEMUC P-3030708 Coimbra Portugal

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Intuitive robot programming CAD off-line programming

来源：评论

学校读者我要写书评

暂无评论

Trajectory Planning for Digital Camouflage Spray Painting Robot Based on Projection Method 12th

Trajectory Planning for Digital Camouflage Spray Painting Ro...

引用

12th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Zhang Xutang Shi Wen Wang Bohao Li Jianming Zhang Ling Harbin Inst Technol Sch Mechatron Engn Harbin 150001 Peoples R China Hubei Commun Tech Coll Wuhan 430079 Peoples R China

ISBN: (纸本)9783030275266;9783030275259

At present, the digital camouflage painting is still mainly by manual spraying, the process is complicated and inefficient. In view for this situation, on the basis of the previous research on the texture mapping technology based on the octree theory, a spray trajectory planning method based on the projection method is proposed. This method takes the texture mapping result as the input. Firstly, the Mosaic boundary on the 3D model is projected to the plane;then the "scanning" raster trajectory planning is carried out on the projection plane;finally, the trajectory of spraying planning is corrected. This method transforms the 3D trajectory planning problem into the 2D trajectory planning problem, which not only greatly simplifies the difficulty of the algorithm planning, but also can adapt to different shape surfaces. The experiment verifies the feasibility of the algorithm. The research results can provide reference for the practice of digital camouflage spraying.

关键词： Spray painting robot Trajectory planning Digital camouflage off-line programming

来源：评论

学校读者我要写书评

暂无评论

Path Generation for Robotic Polishing of Free-form Surfaces 16

Path Generation for Robotic Polishing of Free-form Surfaces

引用

16th IEEE International Conference on Mechatronics and Automation (IEEE ICMA)

作者： Li, Zhaosheng Shang, Linlin Wang, Wei Qiu, Taiwen Chinese Acad Sci Inst Automat Beijing Peoples R China Univ Chinese Acad Sci Beijing Peoples R China Shanghai Aircraft Mfg Co Ltd Shanghai Peoples R China

ISBN: (纸本)9781728116976

This paper develops an off-line programming system to generate tool paths for robotic polishing. The system extracts CAD data from STL format files of free-form surfaces and builds topology relations of triangular facets. We adopt directionparallel path pattern, since it needs less degrees of freedom and is much easier to avoid the physical intervention and the dynamic singularity. We incorporate topology relations of triangular facets into the direction-parallel path generation algorithm with equal axis intervals, so this can remove the redundant data and facilitate the efficiency of path generation. Again, we propose the constant contour interval path generation algorithm, which can generate paths with equal contour intervals. The generated paths with equal contour intervals are desired for robotic polishing. We implement the off-line programming system based on Qt and OpenGL. The system can generate accurate and uniform paths of free-form surfaces, such as the turbine blade surface and the propeller blade surface.

关键词： path generation free-form surface robotic polishing off-line programming

来源：评论

学校读者我要写书评

暂无评论

The off-line programming system of robot based on CATA platform

The off-line programming system of robot based on CATA platf...

引用

3rd International Conference on Manufacturing Science and Engineering (ICMSE 2012)

作者： Yang, Yeguang Guo, Shihui Shenyang Aerosp Univ Natl Def Key Lab Digital Machining Shenyang 110136 Liaoning Peoples R China

ISBN: (纸本)9783037853733

This thesis analyzes the off-line programming system of spraying robot, and study several keys of off-line programming. According to the characteristics of CATIA V5 document structure, a technical scheme for developing off-line programming is proposed. In this scheme, the off-line programming is developed based on CATA platform using CATIA Automation and CAA VC++.

关键词： off-line programming Spraying trajectory Motion simulation

来源：评论

学校读者我要写书评

暂无评论

Processing configuration off-line optimization for functionally redundant robotic drilling tasks

引用

ROBOTICS AND AUTONOMOUS SYSTEMS 2018年 110卷 112-123页

作者： Jiao, Jiachen Tian, Wei Liao, Wenhe Zhang, Lin Bu, Yin Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn Nanjing 210016 Jiangsu Peoples R China

As a key technology of robotic assembly system, off-line programming (OLP) is an effective way to improve processing quality and efficiency. Currently, the basic functions of OLP systems, such as trajectory planning, three-dimensional task simulation and collision detection, could not achieve high machining precision and guarantee the quality stability. Thus, robot kinematics and stiffness performance optimization need to be investigated as secondary tasks in the special OLP system, on the basis of redundant kinematics characteristic of a serial robot system with external axis. First, a singularity measurement model of robot configuration is presented under the constraint of joint-limits to achieve the avoidance of singular and joint-limits configurations. Secondly, based on the robot static stiffness model, an axial stiffness identification method has been come up with to evaluate the stiffness performance in the processing direction. Next, with the combination of singularity measurement model and axial stiffness identification method, a redundancy resolution method is put forward to plan and optimize the configuration of robot system with external axis off-line, which keeps robots away from singularity and joint-limits, and meanwhile achieve the optimum stiffness during robotic drilling process. Finally, the validity of this method in improving drilling quality and stability is verified by the application in a robotic drilling system. (C) 2018 Elsevier B.V. All rights reserved.

关键词： Industrial robots off-line programming Redundant resolution Singularity avoidance Joint-limits avoidance Axial stiffness performance

来源：评论

学校读者我要写书评

暂无评论

Path Planning for Industrial Robot Milling Applications

引用

Procedia Computer Science 2019年 158卷 27-36页

作者： Mustafa Çakır Baran Hekimoğlu Cengiz Deniz Electronics & Communication Engineering Depart. University of Kocaeli Kocaeli 41001 Turkey Electric and Electronics Engineering Depart University of Batman Batman 72060 Turkey Body Manufacturing Engineering Department Golcuk Plant Ford Otosan Kocaeli 41001 Turkey

Recently, the use of industrial robots as an alternative to computer numerical controlled (CNC) workbenches has been increasing due to the lack of access capabilities of CNC, their large masses and costs. Computer-aided design (CAD) and computer-aided manufacturing (CAM) programs for industrial robot applications are still limited due to the following reasons. The trajectories in the CNC program are transformed into robot programs. Despite the wide-ranging capabilities of robots, the tooling orientation is not considered and the trajectory information is generated for commonly used blade geometries due to its suitability for CNCs. The robot configuration is not considered. When the industrial robots compared to CNCs, they have some disadvantages due to their articulated structure. They have difficulty in processing hard surfaces. In this study, a CAD program was developed for robotic milling to resolve the above-mentioned basic problems. Also, it can generate trajectories to increase the surface treatment quality. The program creates trajectory for IRBs from the graphic models in 3ds (3D Studio) format. The depth of the surface treatment can be controlled to increase the stiffness and reduce the geometric errors due to the robots are not rigid enough.

关键词： Robotic milling Robotic manufacturing Path planning off-line programming

来源：评论

学校读者我要写书评

暂无评论

Design of off-line programming method

Design of off-line programming method

引用

IET International Conference on Information Science and Control Engineering 2012 (ICISCE 2012)

作者： Zh.J. Yin J.F. Shan X.J. Zhu College of Mechanical Engineering Ningxia University Yinchuan 750021 China Ningxia University Yinchuan Ningxia CN

ISBN: (纸本)9781629939254

Robot is one kind of mechanical equipment and it's reprogrammable and multifunctional. Its versatility largely depends on programming ability. off-line programming method has the advantage of improving working efficiency and planning complex trajectory. It has aroused great interest in the field of motion control. In this paper, we designed new off-line programming method by LabVIEW software for MOTOMAN-HP20 robot. This method can be used to solve the forward and inverse kinematics of robot, complete off-line programming for any known curves in space and 2-dimensional unknown curves, and generate automatically the program file to realize robot motion control. The above results have been proved by experiment.

关键词： Robot off-line programming Motion control LabVIEW Motor Control Robot Laboratory Virtual Instrumentation Engineering Workbenc online programming programming program file off line Machinery and equipment Robot kinematics inverse kinematics

来源：评论

学校读者我要写书评

暂无评论

A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components

引用

JOURNAL OF THERMAL SPRAY TECHNOLOGY 2017年第7期26卷 1651-1658页

作者： Cai, Zhenhua Qi, Beichun Tao, Chongyuan Luo, Jie Chen, Yuepeng Xie, Changjun Wuhan Univ Technol Automat Sch Wuhan 430000 Hubei Peoples R China Wuhan Univ Technol Sch Mech & Elect Engn Wuhan 430000 Hubei Peoples R China

This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. Amesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.

关键词： heat transfer analysis off-line programming thermal barrier coatings

来源：评论

学校读者我要写书评

暂无评论

Designing and Optimization of an off-line programming System for Robotic Belt Grinding Process

引用

Chinese Journal of Mechanical Engineering 2011年第4期24卷 647-655页

作者： WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing 100191 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

关键词： off-line programming robotic belt grinding path generation tool optimization

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：