机械臂在金属零件磨削路径规划中的应用研究与开发

IF 1.3 Q3 COMPUTER SCIENCE, INFORMATION SYSTEMS

IET Networks Pub Date : 2022-10-14 DOI:10.1109/IET-ICETA56553.2022.9971597

Kuan-Hung Liu, Ming-Fei Chen

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引用次数: 0

摘要

利用Open CASCADE源代码开发金属零件机械臂仿真磨削路径是本研究的目的。首先，建立了金属零件CAD/CAM磨削脚本文件，并将其转换为驱动机械臂的特殊格式。然后建立了程序中机械臂和砂光机的几何尺寸。其次，导入机械臂的正运动学和逆运动学模型;最后，结合上述平移程序对金属零件磨削轨迹进行了仿真和测试。与传统机械臂路径规划的人工教学和校正相比，该方法可提高磨削效率。

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Research and development of robot arm applied to grinding path planning of metal parts

Using the Open CASCADE source to develop a robotic arm simulation grinding path for the metal parts is the purpose of this research. Firstly, a metal parts CAD/CAM grinding script file is created and translated into a special format for driving the presented robot arm. Then the geometric dimensions of the robotic arm and the belt sander in the program are built. Secondly, the forward kinematics and inverse kinematics models of the robotic arm are imported. Finally, the simulation and testing of the metal parts grinding path by combining the above translation program are achieved. Compared with the traditional manual teaching and correction of robotic arm path planning, the grinding efficiency can be improved in this study.

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来源期刊

IET Networks COMPUTER SCIENCE, INFORMATION SYSTEMS-

CiteScore

5.00

自引率

0.00%

发文量

审稿时长

33 weeks

期刊介绍： IET Networks covers the fundamental developments and advancing methodologies to achieve higher performance, optimized and dependable future networks. IET Networks is particularly interested in new ideas and superior solutions to the known and arising technological development bottlenecks at all levels of networking such as topologies, protocols, routing, relaying and resource-allocation for more efficient and more reliable provision of network services. Topics include, but are not limited to: Network Architecture, Design and Planning, Network Protocol, Software, Analysis, Simulation and Experiment, Network Technologies, Applications and Services, Network Security, Operation and Management.