Simulation and Implementation of Free-form Path on Curved Surface of Laser Cladding Robot
In order to meet the requirements of robot laser cladding to repair curved impellers,a fast generation method of robot executable program for free-form path on complex curved surface parts was proposed.The algorithm procedures for obtaining path point pose data on NURBS surface were written using UG/Open API development tools.The simulation model of MH24 robot was established with MATLAB Robotics toolbox,and the trajectory analysis of pose data was carried out to study the variation of joints'displacement with time during robot movement,so as to judge the rationality of pose data.In the matlab environment,reasonable pose data were taken as parameters,the algorithm to generate JBI file quickly was written according to the MH24 robot executable file format.The validity of JBI file was verified by loading the JBI file into MotosimEG-VRC software for simulation.Finally,through the experimental verification,it show that the repair effect is good.It provides a feasible scheme for laser cladding repair of curved impeller parts.
industrial robotlaser claddingpath planningcurved parts
万方数据
维普
