吉林大学学报(工学版) ›› 2013, Vol. 43 ›› Issue (05): 1307-1313.doi: 10.7964/jdxbgxb201305026

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Algorithm of 6-DOF robot trajectory planning applied to special marking

QIU Ning-jia1, SUI Zhen2, LI Ming-zhe1, ZHENG Cheng-xiang3   

  1. 1. Dieless Forming Technology Center, Jilin University, Changchun 130022, China;
    2. College of Communication Engineering, Jilin University, Changchun 130022, China;
    3. Changchun Ruiguang Technology Co. Ltd., Changchun 130022, China
  • Received:2012-07-14 Online:2013-09-01 Published:2013-09-01

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Abstract:

An algorithm of 6-DOF robot marking and trajectory planning is put forward, which is used for Multi-point Stretch Forming process of curved surface of sheet metal. First, the drawing area of the curve surface is determined according to the dimensional parameters of the stretch forming machine. Second, mapping software is used to analyze the data points within the parameter domain of the curved surface. Third, the boundary points are extracted through the coordinate relationships of the data points to determine the line drawing domain of the curved surface. Finally, the line drawing domain is projected onto a plane. Simulation results of line drawing operation are displayed by the use of manipulator inverse kinematic theory. Experiment proves that the algorithm can solve the problem of area selection of sheet metal, and provide an effective line drawing method for sheet metal forming.

Key words: materials synthesis and processing technology, multi-point stretch forming, 6-DOF robot, robot inverse kinematics analysis, spacial profile marking

CLC Number: 

  • TG302

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