大型双面薄壁雕塑的机器人加工与实验研究
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摘要
针对现有机器人无法加工大型双面薄壁雕塑的问题,对CAM软件空间与加工空间的配准模型及双面薄壁雕塑组件双侧加工中的错位误差进行了研究。对CAM产生的轨迹进行了归纳,采用一种最大轮廓轨迹优化的方法,使得机器人只对雕塑组件最大轮廓内的毛胚进行加工;建立了被加工雕塑组件的支撑,避免了轨迹未优化时粗加工形成的悬臂结构,实现了对雕塑组件的精加工。实验及研究结果表明:在CAM空间与加工空间配准后,其双面薄壁雕塑组件的不同加工侧错位误差不超过0. 7 mm;采用轨迹优化方法后,其未加工出的毛胚能够对粗加工后的双面薄壁组件形成有效支撑,保证了双面薄壁组件能够被完整地加工出来。
Aiming at the problem that existing robots could not process large-scale double-sided thin-walled sculptures,the registration model of CAM software space and processing space and the dislocation error of double-sided thin-walled sculpture components were studied. The trajectories generated by CAM were summarized,and a maximum contour method for trajectory optimization was designed,which enabled the robot to process only the blanks in the maximum contour of the sculpture component. The support of the sculpture component processed was established to avoid the cantilever structure of the sculpture component formed by roughing when the trajectory was not optimized,and the sculptural components were finished. The results indicate that after the registration of CAM space and processing space,the dislocation errors of different processing sides of the two-sided thin-walled sculpture components are less than 0. 7 mm. By using the trajectory optimization method,the unprocessed blank can form an effective support for the rough-processed double-sided thin-walled component,so the double-sided thin-walled component can be completely processed.
Aiming at the problem that existing robots could not process large-scale double-sided thin-walled sculptures,the registration model of CAM software space and processing space and the dislocation error of double-sided thin-walled sculpture components were studied. The trajectories generated by CAM were summarized,and a maximum contour method for trajectory optimization was designed,which enabled the robot to process only the blanks in the maximum contour of the sculpture component. The support of the sculpture component processed was established to avoid the cantilever structure of the sculpture component formed by roughing when the trajectory was not optimized,and the sculptural components were finished. The results indicate that after the registration of CAM space and processing space,the dislocation errors of different processing sides of the two-sided thin-walled sculpture components are less than 0. 7 mm. By using the trajectory optimization method,the unprocessed blank can form an effective support for the rough-processed double-sided thin-walled component,so the double-sided thin-walled component can be completely processed.
引文
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[3] KHARIDEGE A,DU Ting-ting,ZHANG Ya-un. A practical approach for automated polishing system of free-form surface path generation based on industrial arm robot[J]. Int.J. Adv. Manuf. Technol,2017,93(1):3921-3934.
[4]康治政.超大直径薄壁塔设备的整体制造技术[J].压力容器,2017,34(7):66-72.
[5]刘蒙,刘廷林.机器人用于艺术雕刻的研究[J].机床与液压,2003(5):110-112.
[6] ZHU Jiang,RYO S,TOMOHISA T. Automatic tool path generation for robot integrated surface sculpturing system[J]. Journal of Advanced Mechanical Design,System,and Manufacturing,2008,2(4):812-823.
[7]胡春良,李斌. CNC机器人七轴加工石膏模型放大雕塑[J].中国铸造装备与技术,2016(6):65-67.
[8]肖文磊,郇极.切削加工机器人与CAD/CAM系统集成化[J].机械工程学报,2011,47(15):52-60.
[9]何雪军,王进,陈国栋,等.基于三角网切片及碰撞检测的工业机器人三维头像雕刻[J].浙江大学学报:工学版,2017,51(6):1104-1110.
[10]冯亮友,梁志鹏,席文明.机器人加工的映射一致性建模及加工实验研究[J].厦门大学学报:自然科学版,2018,57(5):722-728.
[11]冯亮友,梁志鹏,席文明.机器人加工在数字化制造中的应用[J].制造技术与机床,2018(6):40-49.
[12]梁志鹏,冯亮友,徐开怀,等.机器人雕塑加工中的轨迹生成与优化研究[J].机电技术,2018(4):2-6.