机械制造与自动化2025，Vol.54Issue(2)：27-31,5.DOI:10.19344/j.cnki.issn1671-5276.2025.02.005
机器人制孔系统自主镜像运动规划研究
Research on Autonomous Mirror Motion Planning of Robot Drilling System
杨帆 1田威 2戴家隆3
作者信息
- 1. 陕西飞机工业有限责任公司,陕西 汉中 723213
- 2. 南京航空航天大学 机电学院,江苏 南京 210016
- 3. 南京航空航天大学 机电学院,江苏 南京 210016||江苏航鼎智能装备有限公司,江苏 南京 211153
- 折叠
摘要
Abstract
Focusing on the motion planning of robot mirror drilling,the kinematic equation of the robot was established by the DH parameter method,and the Monte Carlo method was applied to calculate the robot's workspace,laying the foundation for the motion planning of robot mirror hole making.A robot motion planning algorithm of mirror drilling was designed based on kinematic theory,generating the pose of mirror robot drilling points for different robot machining trajectories by referencing any plane,thus the automatic motion planning for robot mirror drilling being achieved.A robot mirror drilling workstation was completed in RobotStudio,which verifies the feasibility of image motion planning and greatly improves the efficiency and quality of robot drilling.关键词
制孔机器人/运动学分析/自动制孔/镜像运动规划/离线编程Key words
drilling robot/kinematic analysis/automatic drilling/mirror motion planning/off-line programming分类
信息技术与安全科学引用本文复制引用
杨帆,田威,戴家隆..机器人制孔系统自主镜像运动规划研究[J].机械制造与自动化,2025,54(2):27-31,5.
