[1]许家忠,孙栋,杨海,等. 纤维缠绕机器人离线编程及应用[J].哈尔滨理工大学学报,2018,(05):92-99.[doi:10.15938/j.jhust.2018.05.016]
 XU Jia zhong,SUN Dong,YANG Hai,et al. Offline Programming of Robotized Filament Winding and Its Application[J].哈尔滨理工大学学报,2018,(05):92-99.[doi:10.15938/j.jhust.2018.05.016]
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 纤维缠绕机器人离线编程及应用()
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《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

卷:
期数:
2018年05期
页码:
92-99
栏目:
电气与电子工程
出版日期:
2018-10-25

文章信息/Info

Title:
 Offline Programming of Robotized Filament Winding and Its Application
作者:
 许家忠1孙栋1杨海2刘美军2
 (1哈尔滨理工大学 自动化学院,黑龙江 哈尔滨 150080;
2哈尔滨理工大学 机械动力工程学院,黑龙江 哈尔滨 150080)
Author(s):
 XU Jiazhong1SUN Dong1YANG Hai2LIU Meijun2
 (1School of Automation, Harbin University of Science and Technology, Harbin 150080, China; 
2School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China)
关键词:
 关键词:机器人缠绕离线编程计算机仿真网格后置处理算法
Keywords:
 Keywords:robotic winding offline programming computer emulation mesh post disposal
分类号:
TP3919
DOI:
10.15938/j.jhust.2018.05.016
文献标志码:
A
摘要:
 
摘要:研究了缠绕轨迹网格后处理算法以及机器人运动控制理论,建立基于Matlab和ADAMS的机器人缠绕离线编程及仿真平台。此平台具有针对等距离、等高面、等悬纱长度三种不同出纱方式进行机器人缠绕轨迹CAD设计,并自动生成机器人缠绕执行指令文件的功能;同时借助此平台能实现对缠绕过程的动画仿真与运动曲线分析,达到优化缠绕轨迹的目的。进行了弯管缠绕的仿真实验与物理实验,实验结果表明:此平台可靠实用,缠绕轨迹后处理方便准确,仿真效果理想,能有效的缩短机器人缠绕轨迹开发周期,减少物理实验的次数,降低研发成本。
Abstract:
 Abstract:In this paper,we make a research on mesh post disposal of composite winding and robot motion control theory and establish an offline wind programming and simulation platform of an industrial robot based on Matlab and ADAMS It can do CAD of winding path according to equal distance,equal height and equal fiber length three different envelop forms, and generate the executable file on the robot automatically At the same time, it can optimize the winding path by doing animation simulation and motion analysis of the winding process Simulation and physical experiments of winding one bent pipe have been done It shows that the platform is reliable and practical, winding path design is convenient and accurate and the simulation effect is ideal Simulated experiment can effectively shorten robot winding path development, cut down the times of physical experiments and save the development costs

参考文献/References:

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备注/Memo

备注/Memo:
 基金项目:黑龙江省自然科学基金(E201301); 哈尔滨市优秀学科带头人项目(2015RAXXJ013)
更新日期/Last Update: 2018-11-14