CN109352653B - Offline track planning system for cutting of mobile series-parallel robot - Google Patents
Offline track planning system for cutting of mobile series-parallel robot Download PDFInfo
- Publication number
- CN109352653B CN109352653B CN201811371974.5A CN201811371974A CN109352653B CN 109352653 B CN109352653 B CN 109352653B CN 201811371974 A CN201811371974 A CN 201811371974A CN 109352653 B CN109352653 B CN 109352653B
- Authority
- CN
- China
- Prior art keywords
- robot
- mobile
- subsystem
- series
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention relates to an off-line track planning system for cutting of a mobile series-parallel robot, which comprises a milling path planning subsystem, a mechanism kinematics definition subsystem, a mobile robot track planning subsystem and a mobile robot simulation subsystem, wherein the milling path planning subsystem comprises a milling path planning subsystem, a mechanism kinematics definition subsystem and a mechanism kinematics definition subsystem; the milling path planning subsystem carries out path design on the milling processing of the processed workpiece and sends a path design result to the mobile robot path planning subsystem; the mechanism kinematics definition subsystem establishes a kinematics three-dimensional model to complete the calculation of the positive kinematics relationship and the inverse kinematics relationship of the mechanism; the mobile robot track planning subsystem designs and optimizes the station position of the mobile series-parallel robot relative to a large workpiece by analyzing the input tool position file, and generates a robot body track and outputs a numerical control program which can be executed by the mobile series-parallel robot control system; and the mobile robot simulation subsystem judges whether the generated numerical control program is consistent with the tool position file or not and judges whether the generated numerical control program is safe and correct or not.
Description
Technical Field
The invention relates to an offline track planning system for cutting processing of a mobile series-parallel robot, which relates to the field of numerical control processing of mobile series-parallel robots.
Background
With the increase of the demand of China in the field of manufacturing of important structural parts, the manufacturing characteristics of high precision and high flexibility provide new challenges for processing equipment. For example, in a large sealed cabin structure with the diameter larger than 3 meters and the length larger than 10 meters, in order to ensure that the function and the precision of the large sealed cabin structure meet the requirements of design indexes, the large sealed cabin structure needs to be integrally processed, the existing machine tool is difficult to meet the requirements of a processing range, and the efficient and high-precision manufacturing of large components becomes a main bottleneck restricting the development of high-end manufacturing industry in China.
The mobile series-parallel processing robot consists of an omnidirectional mobile platform and a series-parallel processing robot. The omnidirectional mobile platform can move on the ground, and the hybrid processing robot lifted above the omnidirectional mobile platform makes translation and rotation motion around the workpiece. The hybrid processing robot realizes the five-degree-of-freedom motion of the end milling cutter and realizes the function of five-degree-of-freedom processing. A new idea is provided for realizing the integral processing of the large-scale component based on the manufacturing mode of the mobile processing robot. Numerous scientific research institutes have developed in-situ manufacturing studies using mobile robots for large components throughout the world.
In the high-end manufacturing field of robots, an offline robot trajectory planning system is one of the most active directions in the current robot research field. Currently, a robot trajectory planning system mainly aims at a tandem robot, and a patent "tool position source file-based industrial robot offline programming method" CN105619407A proposes a method for directly converting a tool position source file of an object to be processed into a robot control code, so as to solve the problem of usability of a processing trajectory to a certain extent. The off-line programming method of the robot and the used device CN108139730A provide a solution for the accessibility problem of multiple targets on the robot path based on the inverse kinematics of the robot, and can carry out real-time adjustment through a three-dimensional model of the robot. CN103085072B establishes a virtual robot body and a control system based on three-dimensional modeling software, generates a robot running track, simulates the robot running and generates a robot processing program.
Therefore, the research of the robot offline trajectory planning system mainly includes the processing of the robot trajectory, the robot path planning, the accessibility analysis, the robot motion visualization, and the like. However, the above patent only addresses the fixed serial robot, and neither the positioning accuracy nor the working range of the robot can meet the requirements of high-end manufacturing industry.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method is used for the offline track planning of the mobile series-parallel robot for machining large-sized workpieces, and can effectively improve the automation level and machining efficiency of the number-controlled machining of the mobile series-parallel robot.
The technical scheme of the invention is as follows: an off-line track planning system for cutting of a mobile series-parallel robot comprises a milling path planning subsystem, a mechanism kinematics definition subsystem, a mobile robot track planning subsystem and a mobile robot simulation subsystem;
the milling path planning subsystem carries out path design on milling processing of a processed workpiece, generates a tool location file according to a path design result and sends the tool location file to the mobile robot path planning subsystem;
the mechanism kinematics definition subsystem establishes a mechanism kinematics three-dimensional model of the mobile series-parallel robot to complete the calculation of the positive kinematics relationship and the inverse kinematics relationship of the mechanism;
the mobile robot track planning subsystem designs and optimizes the station position of the mobile hybrid robot relative to a large-sized workpiece by analyzing the input tool position file, and generates a robot body track and outputs a numerical control program which can be executed by the mobile hybrid robot control system;
and the mobile robot simulation subsystem judges whether the generated numerical control program is consistent with the tool position file or not and judges whether the generated numerical control program is safe and correct or not.
The milling path planning subsystem comprises a coordinate system management module, a cutter management module and an operation compiling module; the coordinate system management module generates a coordinate transformation relation of a workpiece coordinate system relative to a world coordinate system and takes the coordinate transformation relation as a first component of the tool position file; the cutter management module generates the diameter and the length of the cylindrical milling cutter as a second component of the cutter position file; operating the programming module to generate all track points which are sequentially connected under a workpiece coordinate system established relative to the first coordinate point; the track points are connected in a straight line, point positions are sequentially generated according to the sequence of the tool motion, the point positions serve as a third component of the tool position file, and the three components are combined to form a file which is sent to the track planning subsystem of the mobile robot.
The mechanism kinematics definition subsystem comprises a mechanism kinematics model building module, a mechanism forward kinematics calculation module and a mechanism inverse kinematics calculation module; the mechanism kinematics model building module is used as a calculation basic module of a mechanism forward kinematics calculation module and a mechanism inverse kinematics calculation module to build a mechanism kinematics three-dimensional model; the mechanism positive kinematics calculation module realizes the calculation of the mechanism positive kinematics relationship; the mechanism inverse kinematics calculation module realizes the mechanism inverse kinematics relation calculation.
The mechanism kinematics model building module is used for defining the translation or rotation relationship between the omnidirectional mobile platform and all kinematic pairs on the hybrid robot and the motion range of all kinematic pairs, including the longest distance of the translation kinematic pair definition motion and the maximum angle range of the rotation defined by the rotation kinematic pair, by introducing a three-dimensional model of the mobile hybrid robot.
The mechanism positive kinematics calculation module is used for establishing a kinematics model established by the mechanism kinematics model through inputting the moving distance and the rotating angle of each kinematic pair, and obtaining the coordinate value of the milling tool center point of the mobile series-parallel robot and the pose of the tool through a DH method.
The mechanism inverse kinematics calculation module is used for establishing a kinematics model established by the mechanism kinematics model establishing module by inputting coordinate values of the center point of the milling tool of the mobile series-parallel robot and the pose of the tool, and obtaining the moving distance and the rotating angle of each kinematic pair by a DH method.
The mobile robot trajectory planning subsystem comprises a mobile platform station position optimizing module, a robot body trajectory editing module and an instruction post-processing module; the mobile platform station position optimizing module is used for designing and optimizing the station position of the mobile series-parallel robot relative to the large workpiece; the robot body track editing module realizes the generation of the motion track of each mechanism joint of the hybrid robot; the command post-processing module converts the postures of the milling cutter central point and the cutter shaft of the parallel-series processing robot corresponding to the station position of each omnidirectional moving platform relative to a workpiece coordinate system into a parallel-series mechanical arm path control command, the process is circulated, the parallel-series mechanical arm path control commands corresponding to all the target station positions along the platform are generated, the omnidirectional moving platform and the parallel-series mechanical arm module are matched with each other in time sequence, start and pause control commands are added, a whole-process executable program is formed, and the whole-process executable program is loaded to the parallel-series mechanical arm module; converting the path information of the omnidirectional intelligent mobile platform into a platform path control instruction, matching the omnidirectional intelligent mobile platform and the hybrid mechanical arm module with each other in time sequence, adding a start and pause control instruction to form a whole-process executable program, and loading the whole-process executable program to the omnidirectional intelligent mobile platform; the command post-processing module transmits the motion trail to a mobile robot simulation subsystem for simulation, and whether the motion trail is safe and correct is confirmed; and the correct numerical control program instruction file is used as a final output result to be executed by the mobile series-parallel robot control system.
The mobile platform station optimization module sets a search plane in a range surrounding a machined workpiece through a module, any point on the search plane is overlapped with the central point of the mobile hybrid robot omnidirectional mobile platform, the mechanism positive kinematics calculation module calculates to obtain that when the center of the omnidirectional mobile platform is at the point, a milling cutter of the hybrid robot moves to a maximum enveloping space, and when the space can envelop all track points in a cutter position file under the same workpiece coordinate system, the programming module defines the point as the station of the omnidirectional mobile platform obtained through optimization; if the space can not envelop the operation programming module to generate all track points in the tool position file under the same workpiece coordinate system, adopting a lattice point optimization method to continue searching according to the specified step length until the specified step length is met; if the condition cannot be met, point location information in the point location file is segmented, track points exceeding the maximum envelope space of the hybrid mechanical arm in the point location file are removed, and searching is carried out again until the condition is met; finding another optimized station position according to the grid point optimization mode again by the removed track points; the mobile hybrid robot plans the motion track of the omnidirectional mobile platform at the optimized station position by the robot body track editing module.
The robot body track editing module calls a mechanism inverse kinematics calculation module to solve the moving distance and the rotating angle of each kinematic pair at each point position when point position information in a tool position file under the condition of meeting the optimized station position is obtained, and if multiple solutions exist, a group with the smallest difference value between the moving distance and the rotating angle of each kinematic pair obtained by calculation with the previous point position is taken, so that the moving speed change value of each joint in the hybrid mechanism is the smallest under the condition that the moving speed of the tool is not changed; the module allows a new tool position avoiding point to be inserted so as to avoid the collision of the robot with a workpiece in the motion process when the simulation subsystem of the mobile robot checks the motion interference condition; and the station position file and the motion trail under all station positions generated by the mobile platform station position optimizing module and the robot body trail editing module are sent to the instruction post-processing module.
The mobile robot simulation subsystem comprises a motion process simulation module, an interference inspection module and an over-cut inspection module;
the motion process simulation module judges whether the numerical control program is consistent with the cutter location file or not; comparing the tool position file generated by the input operation programming module with the point positions corresponding to the numerical control program generated by the instruction post-processing module, calculating whether the moving distance and the rotation angle difference value of each kinematic pair of the parallel-series robot corresponding to the point positions are within a set range through the mechanism inverse kinematics calculation module, and if so, performing interference check and over-cut check on the numerical control program generated by the instruction post-processing module;
the interference checking module judges whether the motion trail is safe or not; if the minimum distance between any part of the moving series-parallel robot and the processed workpiece and the tool is a negative value in the simulation process of the motion trail of the robot, judging that the motion trail is unsafe, and returning to the robot body trail editing module for trail modification;
the checking module judges whether the motion track is correct or not; and if the distance between the point on the path and the point in the corresponding tool position file is greater than the set maximum distance value after the path of the moving parallel-serial robot tool moving and any point on the connecting straight line between each track point and each track point in the tool position file are sampled according to the set step length, judging that the motion track is incorrect, and returning to the robot body track editing module for track modification.
Compared with the prior art, the invention has the beneficial effects that:
(1) the mobile platform station optimization module solves the problem that the processing range of a large workpiece cannot be covered by the processing range caused by insufficient stroke of a hybrid robot body, the fact that the robot omnidirectional mobile platform moves to a certain point is assumed through a lattice point method, then the maximum envelope space of the movement of a milling cutter at the tail end of the hybrid robot is calculated by combining positive kinematics of the hybrid robot, and whether the space envelopes all points of a cutter position file generated by the programming module under the same workpiece coordinate system is determined. When the condition is not met, the point location information in the cutter location file can be divided, track points exceeding the maximum envelope space of the hybrid mechanical arm in the cutter location file are removed, searching is carried out again until the condition is met, and the number of stations is optimized and reduced to improve the area and the number of covered processing surfaces under one station.
(2) And comparing the cutter position file generated by the operation programming module with the generated numerical control program file in the motion simulation module, and checking whether the numerical control program file is consistent on the described machining track participating in cutting. The tool position file is prevented from deviating in the track after being calculated through the forward kinematics and the reverse kinematics of the hybrid processing robot, so that the accuracy of a processing program is influenced.
Drawings
FIG. 1 is a block diagram of an offline programming system of a mobile hybrid robot.
Detailed Description
The following describes a method for an offline programming system of a mobile hybrid robot in detail with reference to the accompanying drawings. As shown in fig. 1, the system of the present invention mainly includes a milling path planning subsystem, a mechanism kinematics definition subsystem, a mobile robot trajectory planning subsystem, and a mobile robot simulation subsystem.
The milling path planning subsystem: and finishing the milling path compilation of the processed workpiece by using computer-aided manufacturing numerical control programming software, generating a tool position file and transmitting the tool position file to the mobile robot track planning subsystem. The milling path planning subsystem comprises a coordinate system management module, a tool management module and an operation programming module.
The milling path planning subsystem comprises a coordinate system management module, a cutter management module and an operation compiling module; the coordinate system management module generates a coordinate transformation relation of a workpiece coordinate system relative to a world coordinate system and takes the coordinate transformation relation as a first component of the tool position file; the cutter management module generates the diameter and the length of the cylindrical milling cutter as a second component of the cutter position file; operating the programming module to generate all track points which are sequentially connected under a workpiece coordinate system established relative to the first coordinate point; the track points are connected in a straight line, point positions are sequentially generated according to the sequence of the motion arrival of the cutter and serve as a third component of the cutter position file, and the three components are combined to form the cutter position file and sent to the track planning subsystem of the mobile robot.
The mechanism kinematics definition subsystem: and establishing a mechanism kinematics three-dimensional model of the mobile series-parallel robot to complete the calculation of the positive kinematics relationship and the inverse kinematics relationship of the mechanism. The mechanism kinematics definition subsystem comprises a mechanism kinematics model building module, a mechanism forward kinematics calculation module and a mechanism inverse kinematics calculation module.
The mechanism kinematics three-dimensional model is realized by a mechanism kinematics model building module. The module is a calculation basic module of a mechanism positive kinematics calculation module and a mechanism inverse kinematics calculation module. The three-dimensional model of the mobile hybrid robot is introduced, the translation or rotation relation between the omnidirectional mobile platform and all kinematic pairs on the hybrid robot and the motion range of all the kinematic pairs are defined, the longest distance of motion is defined by the translation kinematic pairs, and the maximum angle range of rotation is defined by the rotation kinematic pairs.
And the mechanism positive kinematic relation calculation is realized by a mechanism positive kinematic calculation module. And (3) inputting the moving distance and the rotating angle of each kinematic pair, utilizing a kinematic model established by the mechanism kinematic model establishing module, and obtaining the coordinate value of the milling tool center point of the mobile series-parallel robot and the pose of the tool by a DH method.
The mechanism inverse kinematics relation calculation is realized by a mechanism inverse kinematics calculation module. The function is opposite to that of the mechanism positive kinematic calculation module. The coordinate value of the center point of the milling tool of the mobile series-parallel robot and the pose of the tool are input, a kinematic model established by a mechanism kinematic model establishing module is utilized, and the moving distance and the rotating angle of each kinematic pair are obtained by a DH method. The DH method can be referred to in the literature by "introduction to robotics" 2006 mechanical industry Press, author (U.S.A.) John J.Craig, ISBN 9787111186816, etc.
The mobile robot path planning subsystem: and designing and optimizing the station position of the mobile series-parallel robot relative to the large workpiece, and generating a numerical control program which can be executed by the robot body track and the output mobile series-parallel robot control system. The system comprises a mobile platform station position optimization module, a robot body track editing module and an instruction post-processing module.
The design optimization of the station position of the mobile hybrid robot relative to the large workpiece is realized by a mobile platform station position optimization module. A user sets a search plane in a range surrounding a machined workpiece through a module, any point on the search plane is overlapped with the central point of the omnidirectional moving platform of the mobile hybrid robot, therefore, the maximum envelope space of the milling cutter of the hybrid robot when the center of the omnidirectional moving platform is at the point can be obtained through calculation of the mechanism positive kinematics calculation module, and when the space can envelope all the points in the cutter position file generated by the programming module under the same workpiece coordinate system, the point is indicated as the station position of the omnidirectional moving platform obtained through optimization. If the space can not envelop the operation programming module to generate all track points in the tool position file under the same workpiece coordinate system, adopting a lattice point optimization method to continue searching according to the specified step length until the specified step length is met. And if the condition cannot be met, the track point location information in the tool location file is segmented, and track points exceeding the maximum envelope space of the hybrid mechanical arm in the tool location file are removed for searching again until the condition is met. And finding another optimized station according to the mode again by the rejected track points. The mobile hybrid robot plans the motion track of the omnidirectional mobile platform at the station position by the robot body track editing module under the station positions respectively.
The motion trail generation of each mechanism joint of the hybrid robot is realized by a robot body trail editing module. And if multiple solutions exist, a group with the minimum difference value between the moving distance and the rotating angle of each kinematic pair obtained by calculation with the last point location is selected, so that the movement speed change value of each joint in the hybrid mechanism is minimum under the condition that the movement speed of the cutter is not changed. The module allows a new tool position avoiding point to be inserted so as to avoid the collision of the robot with a workpiece in the motion process when the simulation subsystem of the mobile robot checks the motion interference condition. And the station position file and the motion trail under all the station positions, which are generated by the mobile platform station position optimizing module and the robot body trail editing module, are sent to the instruction post-processing module for further processing.
And outputting a numerical control program capable of being executed by the mobile series-parallel robot control system by using the instruction post-processing module. Converting the postures of the milling cutter central point of the parallel-series machining robot corresponding to each omnidirectional moving platform station point and the cutter shaft relative to a workpiece coordinate system into a parallel-series mechanical arm path control instruction by the module, circulating the process, generating the parallel-series mechanical arm path control instructions corresponding to all the target station points along the platform, matching the omnidirectional moving platform and the parallel-series mechanical arm module with each other in time sequence, adding a start and pause control instruction, forming an executable program in the whole process, and loading the executable program to the parallel-series mechanical arm module; the method comprises the steps of converting the path information of the omnidirectional intelligent mobile platform into a platform path control instruction, matching the omnidirectional intelligent mobile platform and a hybrid mechanical arm module with each other in time sequence, adding a start and pause control instruction, forming a whole-process executable program, and loading the program to the omnidirectional intelligent mobile platform.
The module transmits the motion trail to a mobile robot simulation subsystem for simulation, and confirms whether the motion trail is safe and correct. And confirming whether the safe and correct functions are confirmed by the mobile robot simulation subsystem. And if the numerical control program instruction file is correct, the generated numerical control program instruction file can be executed by the mobile hybrid robot control system.
The mobile robot simulation subsystem: the main functions comprise that whether the generated numerical control program is consistent with the cutter position file or not is judged, and whether the generated numerical control program is safe and correct or not is judged. The device comprises a motion process simulation module, an interference checking module and an overcutting checking module.
And judging whether the numerical control program is consistent with the cutter position file or not is realized by a motion process simulation module. And comparing the tool position file generated by the input operation programming module with the point positions corresponding to the numerical control program generated by the instruction post-processing module, calculating whether the moving distance and the rotation angle difference value of each kinematic pair of the hybrid robot corresponding to the point positions are within a set range through the mechanism inverse kinematics calculation module, and if so, performing interference check and over-cut check on the numerical control program generated by the instruction post-processing module.
And judging whether the motion trail is safe or not by an interference checking module. And if the minimum distance between any part of the mobile series-parallel robot and the processed workpiece and the tool is a negative value in the simulation process of the motion trail of the robot, judging that the motion trail is unsafe. And if the set safety condition is not met, returning to the robot body track editing module for track modification.
And judging whether the motion track is correct or not by the over-cut checking module. And if the distance between the point on the path and the point in the corresponding tool position file is greater than the set maximum distance value after the path of the moving parallel-serial robot tool moving and the points on the connecting straight line between the track points and the track points in the tool position file are sampled according to the set step length, judging that the movement track is incorrect, and returning to the robot body track editing module for track modification.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (1)
1. An off-line track planning system for cutting of a mobile series-parallel robot is characterized in that: the system comprises a milling path planning subsystem, a mechanism kinematics definition subsystem, a mobile robot trajectory planning subsystem and a mobile robot simulation subsystem;
the milling path planning subsystem carries out path design on milling processing of a processed workpiece, generates a tool location file according to a path design result and sends the tool location file to the mobile robot path planning subsystem;
the mechanism kinematics definition subsystem establishes a mechanism kinematics three-dimensional model of the mobile series-parallel robot to complete the calculation of the positive kinematics relationship and the inverse kinematics relationship of the mechanism;
the mobile robot track planning subsystem designs and optimizes the station position of the mobile hybrid robot relative to a large-sized workpiece by analyzing the input tool position file, and generates a numerical control program which can be executed by the robot body track and the mobile hybrid robot control system;
the mobile robot simulation subsystem judges whether the generated numerical control program is consistent with the tool position file or not and judges whether the generated numerical control program is safe and correct or not;
the mobile robot track planning subsystem comprises an omnidirectional intelligent mobile platform station position optimization module, a robot body track editing module and a command post-processing module; the station position optimizing module of the omnidirectional intelligent mobile platform designs and optimizes the station position of the mobile series-parallel robot relative to a large workpiece; the robot body track editing module realizes the generation of the motion track of each mechanism joint of the mobile series-parallel robot; the command post-processing module converts the postures of the milling cutter central point and the cutter shaft of the parallel-series processing robot corresponding to each omnidirectional intelligent mobile platform station position point relative to a workpiece coordinate system into a parallel-series mechanical arm path control command, the process is circulated, the parallel-series mechanical arm path control commands corresponding to all target station positions along the omnidirectional intelligent mobile platform are generated, the omnidirectional intelligent mobile platform and the parallel-series mechanical arm are matched with each other in time sequence, start and pause control commands are added, a whole-process executable program is formed, and the whole-process executable program is loaded to the parallel-series mechanical arm; converting the path information of the omnidirectional intelligent mobile platform into a path control instruction of the omnidirectional intelligent mobile platform, matching the omnidirectional intelligent mobile platform and the hybrid mechanical arm with each other in time sequence, adding a start and pause control instruction to form an executable program in the whole process, and loading the executable program to the omnidirectional intelligent mobile platform; the command post-processing module transmits the motion trail to a mobile robot simulation subsystem for simulation, and whether the motion trail is safe and correct is confirmed; and the correct numerical control program instruction file is used as a final output result to be executed by the mobile series-parallel robot control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811371974.5A CN109352653B (en) | 2018-11-15 | 2018-11-15 | Offline track planning system for cutting of mobile series-parallel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811371974.5A CN109352653B (en) | 2018-11-15 | 2018-11-15 | Offline track planning system for cutting of mobile series-parallel robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109352653A CN109352653A (en) | 2019-02-19 |
| CN109352653B true CN109352653B (en) | 2020-07-14 |
Family
ID=65332110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811371974.5A Active CN109352653B (en) | 2018-11-15 | 2018-11-15 | Offline track planning system for cutting of mobile series-parallel robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109352653B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111240271B (en) * | 2020-03-10 | 2022-06-07 | 华侨大学 | Curved surface rough machining method based on flexible abrasive particle mechanical cutting |
| CN113276112B (en) * | 2021-04-30 | 2022-12-13 | 北京卫星制造厂有限公司 | Mobile double-robot-based weak rigid member machining process planning method |
| CN114505862B (en) * | 2022-03-04 | 2024-07-05 | 上海大学 | Building 3D printing mobile mechanical arm station planning method and system |
| CN115383887B (en) * | 2022-09-21 | 2024-02-23 | 中建材创新科技研究院有限公司 | Automatic high-precision cutting device and method for gypsum plaster board |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104742127B (en) * | 2015-04-08 | 2017-06-13 | 深圳市山龙智控有限公司 | The control method and robot of a kind of robot |
| CN105302959B (en) * | 2015-10-30 | 2019-03-05 | 福建长江工业有限公司 | A kind of six axis grinding and polishing industrial robot off-line programing methods |
| CN106737651A (en) * | 2015-11-20 | 2017-05-31 | 哈尔滨工大天才智能科技有限公司 | A kind of control method of motion trace based on 3-TPS series-parallel robots |
| CN105415372B (en) * | 2015-12-09 | 2017-04-12 | 常州汉迪机器人科技有限公司 | Multi-joint robot track planning method under constraint of safety space |
| CN106041928B (en) * | 2016-06-24 | 2018-03-20 | 东南大学 | A kind of robot manipulating task task generation method based on part model |
| CN108427391B (en) * | 2018-05-02 | 2019-06-18 | 南京航空航天大学 | The operation method of the intelligent flexible production line of mobile robot automatic drill milling |
-
2018
- 2018-11-15 CN CN201811371974.5A patent/CN109352653B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109352653A (en) | 2019-02-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109352653B (en) | Offline track planning system for cutting of mobile series-parallel robot | |
| CN108286949B (en) | Movable three-dimensional detection robot system | |
| CN101859126B (en) | Five-coordinate numerical control machining cutter path changing method | |
| Hardwick et al. | A roadmap for STEP-NC-enabled interoperable manufacturing | |
| CN104942808A (en) | Robot motion path off-line programming method and system | |
| CN109664296B (en) | Optimized track searching method for robot abrasive belt grinding | |
| CN103955168A (en) | Robot hole machining off-line programming method based on DELMIA simulation | |
| CN105302959A (en) | Offline programming method for six-axis grinding and polishing industrial robot | |
| Xie et al. | Obstacle avoidance and path planning for multi-joint manipulator in a space robot | |
| Fan et al. | An automated reconfigurable flexible fixture for aerospace pipeline assembly before welding | |
| CN108608425A (en) | Six-shaft industrial robot Milling Process off-line programing method and system | |
| Wang et al. | Digital twin implementation of autonomous planning arc welding robot system | |
| Cui et al. | A path planning method for v-shaped robotic cutting of Nomex honeycomb by straight blade tool | |
| CN105204430A (en) | Five-axis post-processing method based on machine tool entity model | |
| Li et al. | Development of post-processing system for three types of five-axis machine tools based on solid model | |
| Yu et al. | Simulation-based multi-machine coordination for high-speed press line | |
| CN113276112B (en) | Mobile double-robot-based weak rigid member machining process planning method | |
| Chen et al. | Analysis and simulation of kinematics of 5-DOF nuclear power station robot manipulator | |
| CN110948489B (en) | Method and system for limiting safe working space of live working robot | |
| Zeng et al. | Robotic trajectory planning based on CL data | |
| Baizid et al. | Industrial robotics platform for simulation design, planning and optimization based on off-line CAD programming | |
| JP2021186929A (en) | Control method for multi-axis robot | |
| CN116663204B (en) | Offline programming method, system and equipment for robot milling | |
| Skrzek et al. | Towards a smart reconfiguration process for complex product manufacturing based on industrial robot cells | |
| Jiang et al. | Research on obstacle avoidance path planning algorithm for six-axis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |