Research On Post-Processing Technology For Dual-heads Automated Placement On Similar Rotation Component

To meet the application requirements of high efficiency laying,this paper is aimed at the key technology in the scheme of double-heads coordination and the design of post-processing algorithm for similar rotation component,which is based on the composite laying with robot platform.The trajectory distribution and the longitudinal feed adaptation of the cooperative laying for robot platform in offline programming are analyzed.Furthermore,the linkage function of multiple additional axes and robot platform is realized,which lays the theoretical foundation for the development of the offline programming system of the double-heads workstation.The main research work were as follows:Firstly,based on the mould overall trajectory,the dual-heads distribution scheme is proposed.In this section,it analysed the structure of robot’s automatic platform,and analyzes the effective working space of six-axis industrial robot in detail.Accordingly,the layout of the dual-robot system and position of the rotating spindle is determined.The AFP trajectory is paired by the Angle control under the constraint of the robot platform’s full reachable workspace.After the complete mold trajectory distribution scheme is obtained,the trajectory generated with CAD software is converted into the processing file from the robot’s point of view.Secondly,the coordination of the laying speed of the two trajectorys is accomplished with the longitudinal feed step as the constraint,so as to realize the time synchronization effect of the two laying robots.Then,the calculation method of the pose of the end coordinate system needed by the robot to execute the program is analysed,and the output format of the program executed by the KUKA robot is briefly introduced.Then the multi-processing calculation of the extended shift base and the rotating spindle are designed respectively for the post-processing of the attached extension axis.Aiming at the translational post-processing of the guide slide,this paper has determined that the continuous positioning inverse solution algorithm with the intersection of hand axes as the reference factor is more efficient and more practical.Then,the cooperation method that the robot rotates with the rotating spindle as the main shaft and the two robots cooperate,and the master-slave method with the concave laying robot as the main optimization factor are researched respectively.Taking into account the universality of the placement platform,the collaboration method with the hand axis intersection as the reference factor is determined as the main post-processing algorithm in this paper.Finally,the post-processing algorithm of the spindle is optimized to eliminate the irregular movement.Based on the virtual simulation environment,the common composite layer in the engineering is simulated in the constructed dual-robots AFP system,which verifies the feasibility of the algorithm.