Robot-based Scanning Trajectory Planning And Simulation For Large-scale Rotating Bodies

Large rotating parts are widely used in the fields of aviation,aerospace,wind power,energy,and construction machinery as core components.The shape inspection is an important part of the manufacturing process.As the traditional large-scale rotating body shape detection method mainly relies on the inspection personnel to repeatedly detect with the measurement experience,this method has disadvantages such as low efficiency,poor accuracy,high cost,and hidden safety hazards.It urgently requires a safe and efficient automated shape detection method.In this thesis,the scanning trajectory planning and simulation for the detection of large-scale rotating objects based on robots are studied,including the study of robot trajectory planning,trajectory planning of the scanning path,off-line programming and simulation system development.The robot kinematics and trajectory planning method is studied,which lays a theoretical foundation for the development of robot scanning trajectory planning and simulation system.In view of the specific conditions of the scanning process,the scanning constraint conditions of the scanner are taken into consideration.According to the shape characteristics of the revolving body and the working space of the robot,the line cutting along the axis is determined as the overall scanning strategy,thus the algorithm for generating the scanning path of the large revolving body shape is proposed according to the reachable scanning region.The simulation platform,“The scanning and trajectory planning and simulation system for large-scale rotating bodies”,was developed,it completes the simulation of the scanning path planning.Finally,various types of large slewing body scan path were simulated by the simulation system.The simulation results show that the robot-based large-scale swivel automated scanning scheme in this paper is correct and effective.