CN108608425B - 六轴工业机器人铣削加工离线编程方法及*** - Google Patents
六轴工业机器人铣削加工离线编程方法及*** Download PDFInfo
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- CN108608425B CN108608425B CN201810326542.6A CN201810326542A CN108608425B CN 108608425 B CN108608425 B CN 108608425B CN 201810326542 A CN201810326542 A CN 201810326542A CN 108608425 B CN108608425 B CN 108608425B
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- 238000003801 milling Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005457 optimization Methods 0.000 claims abstract description 21
- 238000010845 search algorithm Methods 0.000 claims abstract description 15
- 238000004458 analytical method Methods 0.000 claims description 5
- 239000011159 matrix material Substances 0.000 claims description 5
- 238000003754 machining Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000013598 vector Substances 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
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CN108608425B true CN108608425B (zh) | 2020-11-17 |
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Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110722576B (zh) * | 2019-10-09 | 2022-10-14 | 上海交通大学 | 工业机器人铣削加工路径全局光顺方法及*** |
CN111958611B (zh) * | 2020-07-31 | 2021-10-08 | 华中科技大学 | 考虑轮廓误差最小的铣削加工机器人姿态优化方法及设备 |
CN112847364B (zh) * | 2021-01-06 | 2022-09-30 | 南京航空航天大学 | 机器人铣削加工刀具路径c3连续的在线实时解析光顺方法 |
CN114700954B (zh) * | 2022-05-12 | 2023-12-22 | 中国计量大学 | 一种六自由度工业机器人制孔刚度优化方法 |
Citations (8)
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CN104942808A (zh) * | 2015-06-29 | 2015-09-30 | 广州数控设备有限公司 | 机器人运动路径离线编程方法及*** |
CN105527925A (zh) * | 2015-12-08 | 2016-04-27 | 上海交通大学 | 复杂曲面五轴平底刀宽行加工进给率离线规划方法 |
CN105867381A (zh) * | 2016-04-25 | 2016-08-17 | 广西大学 | 一种基于概率地图的工业机器人路径搜索优化算法 |
CN105881521A (zh) * | 2016-05-27 | 2016-08-24 | 济宁中科先进技术研究院有限公司 | 采用六轴工业机器人进行相贯线切割的加工装置及方法 |
CN106200554A (zh) * | 2016-08-29 | 2016-12-07 | 广东工业大学 | 一种零件加工位姿优化方法及*** |
CN105269565B (zh) * | 2015-10-30 | 2017-04-05 | 福建长江工业有限公司 | 一种六轴磨抛工业机器人离线编程及修正方法 |
WO2017086032A1 (ja) * | 2015-11-20 | 2017-05-26 | ソニー株式会社 | 画像処理装置および方法 |
CN107150341A (zh) * | 2017-06-13 | 2017-09-12 | 南京理工大学 | 一种基于离散粒子群算法的焊接机器人焊接路径规划方法 |
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2018
- 2018-04-12 CN CN201810326542.6A patent/CN108608425B/zh active Active
Patent Citations (8)
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CN104942808A (zh) * | 2015-06-29 | 2015-09-30 | 广州数控设备有限公司 | 机器人运动路径离线编程方法及*** |
CN105269565B (zh) * | 2015-10-30 | 2017-04-05 | 福建长江工业有限公司 | 一种六轴磨抛工业机器人离线编程及修正方法 |
WO2017086032A1 (ja) * | 2015-11-20 | 2017-05-26 | ソニー株式会社 | 画像処理装置および方法 |
CN105527925A (zh) * | 2015-12-08 | 2016-04-27 | 上海交通大学 | 复杂曲面五轴平底刀宽行加工进给率离线规划方法 |
CN105867381A (zh) * | 2016-04-25 | 2016-08-17 | 广西大学 | 一种基于概率地图的工业机器人路径搜索优化算法 |
CN105881521A (zh) * | 2016-05-27 | 2016-08-24 | 济宁中科先进技术研究院有限公司 | 采用六轴工业机器人进行相贯线切割的加工装置及方法 |
CN106200554A (zh) * | 2016-08-29 | 2016-12-07 | 广东工业大学 | 一种零件加工位姿优化方法及*** |
CN107150341A (zh) * | 2017-06-13 | 2017-09-12 | 南京理工大学 | 一种基于离散粒子群算法的焊接机器人焊接路径规划方法 |
Non-Patent Citations (1)
Title |
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一种基于冗余自由度的机器人姿态优化方法;焦嘉琛 田威 石章虎 邱燕平 孟华林 廖文和 张霖;《航空制造技术》;20180321;第61卷(第4期);第16页-第21页 * |
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Effective date of registration: 20230823 Address after: 200127, Room 302, No. 6, Lane 1600, Dongfang Road, Pudong New Area, Shanghai Patentee after: Ding Ye Patentee after: SHANGHAI JIAO TONG University Address before: 200240 No. 800, Dongchuan Road, Shanghai, Minhang District Patentee before: SHANGHAI JIAO TONG University |
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Effective date of registration: 20231007 Address after: 200127, Room 302, No. 6, Lane 1600, Dongfang Road, Pudong New Area, Shanghai Patentee after: Ding Ye Address before: 200127, Room 302, No. 6, Lane 1600, Dongfang Road, Pudong New Area, Shanghai Patentee before: Ding Ye Patentee before: SHANGHAI JIAO TONG University |
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Effective date of registration: 20231114 Address after: 201109 Building 1, No. 600, Jianchuan Road, Minhang District, Shanghai Patentee after: Shanghai Moxiang Machinery Technology Co.,Ltd. Address before: 200127, Room 302, No. 6, Lane 1600, Dongfang Road, Pudong New Area, Shanghai Patentee before: Ding Ye |