Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method

doi:10.1108/IR-01-2022-0012

	Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method
	Wang, Zhao-Qin 1,2,3; Shi, Yu1 ; Wang, Xiao-Rong 2,3
	2022-09-20
发表期刊	Industrial Robot
ISSN	0143-991X
卷号	49 期号:6 页码:1133-1143
摘要	Purpose: The bisection inverse search bow height control interpolation (BIS-BHCI) method for nonuniform rational B-splines (NURBS) curve is proposed to accomplish the serial robotic plasma cladding of planar complex curve coating with high precision. Design/methodology/approach: A plasma–computer integrated cladding system is constructed based on a Motoman-UP6 serial robot and a plasma power. Based on the BIS-BHCI method, combining the serial robotic kinematics with the NURBS curve model, an offline plasma cladding software is developed for Motoman-UP6. Before plasma cladding, a planar NURBS curve coating is designed and defined and its BIS-BHCI is carried out with proper parameters. Then, the cladding programs are generated using the BIS-BHCI results and the robotic kinematics and inputted into the serial robotic controller. After that, the plasma cladding of the planar NURBS curve coating is implemented based on the Motoman-UP6 serial robot. Findings: The simulation and plasma cladding for the NURBS curve coating shows that the BIS-BHCI method is feasible and effective. Plasma cladding of complex NURBS curve coating based on serial robot is feasible and effective. Originality/value: The complex NURBS curve coating is prepared based on a serial robot platform for the first time. It provides a theoretical and technical basis for plasma cladding to produce surface coatings of industrial complex parts. With the increasing application of complex parts, the plasma cladding process of complex NURBS curve coatings has a broad application prospect. © 2022, Emerald Publishing Limited.
关键词	Cladding (coating) Interpolation Inverse problems Kinematics Machine design Robotics Robots Bisection inverse search Bow height control interpolation Complex curves Complex parts Height control Interpolation method Nonuniform rational B spline curve Planar complexes Plasma cladding Serial robots
DOI	10.1108/IR-01-2022-0012
收录类别	EI ; SCIE
语种	英语
WOS研究方向	Engineering ; Robotics
WOS类目	Engineering, Industrial ; Robotics
WOS记录号	WOS:000784780000001
出版者	Emerald Group Holdings Ltd.
EI入藏号	20221912080873
EI主题词	Coatings
EI分类号	601 Mechanical Design ; 731.5 Robotics ; 813.2 Coating Materials ; 921.6 Numerical Methods ; 931.1 Mechanics
来源库	WOS
引用统计	被引频次[WOS]：0 [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	https://ir.lut.edu.cn/handle/2XXMBERH/159107
专题	材料科学与工程学院
通讯作者	Shi, Yu; Wang, Xiao-Rong
作者单位	1.Lanzhou Univ Technol, State Key Lab Adv Proc & Recycling Nonferrous Met, Lanzhou, Peoples R China; 2.Lanzhou Jiaotong Univ, Sch Mechatron Engn, Lanzhou, Peoples R China; 3.Lanzhou Jiaotong Univ, Key Lab Syst Dynam & Reliabil Rail Transport Equi, Lanzhou, Peoples R China
第一作者单位	省部共建有色金属先进加工与再利用国家重点实验室
通讯作者单位	省部共建有色金属先进加工与再利用国家重点实验室
第一作者的第一单位	省部共建有色金属先进加工与再利用国家重点实验室
推荐引用方式 GB/T 7714	Wang, Zhao-Qin,Shi, Yu,Wang, Xiao-Rong. Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method[J]. Industrial Robot,2022,49(6):1133-1143.
APA	Wang, Zhao-Qin,Shi, Yu,&Wang, Xiao-Rong.(2022).Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method.Industrial Robot,49(6),1133-1143.
MLA	Wang, Zhao-Qin,et al."Robotic plasma cladding complex NURBS curve coating using the bisection inverse search bow height control interpolation method".Industrial Robot 49.6(2022):1133-1143.