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管道喷涂机器人:结构与位姿调整

陈友东 季旭东 汤伟

陈友东, 季旭东, 汤伟等 . 管道喷涂机器人:结构与位姿调整[J]. 北京航空航天大学学报, 2015, 41(2): 209-215. doi: 10.13700/j.bh.1001-5965.2014.0163
引用本文: 陈友东, 季旭东, 汤伟等 . 管道喷涂机器人:结构与位姿调整[J]. 北京航空航天大学学报, 2015, 41(2): 209-215. doi: 10.13700/j.bh.1001-5965.2014.0163
CHEN Youdong, JI Xudong, TANG Weiet al. Pipeline spraying robot: structure and pose adjustment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(2): 209-215. doi: 10.13700/j.bh.1001-5965.2014.0163(in Chinese)
Citation: CHEN Youdong, JI Xudong, TANG Weiet al. Pipeline spraying robot: structure and pose adjustment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(2): 209-215. doi: 10.13700/j.bh.1001-5965.2014.0163(in Chinese)

管道喷涂机器人:结构与位姿调整

doi: 10.13700/j.bh.1001-5965.2014.0163
基金项目: 国家科技支撑计划资助项目(2012BAF06B01); 北京市重大科技成果产业化项目(Z131100006413029)
详细信息
    通讯作者:

    陈友东(1973—), 男, 安徽庐江人, 副教授, chenyd@buaa.edu.cn, 主要研究方向为工业机器人.

  • 中图分类号: TP242

Pipeline spraying robot: structure and pose adjustment

  • 摘要: 针对工业上大型管道内壁喷涂的需求,设计了用于喷涂管道的机器人,该机器人采用串并联结构形式,由支撑平台和串联机械手组成.支撑平台采用几何的方法建立数学模型,串联机械手采用D-H参数法建模;并在数学模型基础上给出了逆解方程.位姿调整时,对机器人进行初定位,利用激光跟踪仪测量出管道和机器人的位姿,求解出调整量,对机器人进行位姿调整,使喷枪旋转轴和管道轴线重合.管道喷涂机器人在工厂进行试验测试,测试结果表明该装备可以很好地实现管道的喷涂,提高喷涂质量和效率.

     

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出版历程
  • 收稿日期:  2014-03-27
  • 刊出日期:  2015-02-20

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