Trajectory Planning of Curved Surface Subdivision Robot Arm and Positioner by Laser Cladding

被引：0
|
作者：
Liu Jinduo [1 ]
Sun Wenlei [1 ]
Huang Yong [1 ]
机构：
[1] Xinjiang Univ, Sch Mech Engn, Urumqi 830047, Xinjiang, Peoples R China
来源：
LASER & OPTOELECTRONICS PROGRESS | 2018年 / 55卷 / 07期
关键词：
laser technique; laser cladding; curved surface part; trajectory planning; region partitioning; coordination;
D O I：
10.3788/LOP55.071402
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
It is difficult for path planning of processing and the cladding accuracy is susceptible when the damaged area repaired by laser cladding is a free-form curved surface with an obvious curvature change. As for the above problem, a method of regionalization of the fast generated trajectory point set according to feature type is proposed. The joint angle of robot arm has a little change when working in the same area. The track points in the adjacent area are adjusted to meet the requirement of cladding quality under the coordination of the positioner. The operation model of robot and positioner is established and the aim of their coordination is obtained. The precision requirement of laser processing is met and the efficiency of robot repair of curved parts is improved.
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页数：8
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