Research On Spray Trajectory Planning Of Wind Turbine Hub Based On Robot Kinematics

The hub of wind turbine,as the installation component of wind turbine blades,has a harsh working environment.The quality of wheel hub surface coating will affect the utilization rate of wind energy by fans.It is particularly important to use spraying robots to uniformly and efficiently protect the wheel hub.Appropriate process parameters and fast and accurate kinematics algorithm are the research basis of trajectory planning.And a good trajectory planning method is the key to realize uniform spraying on the hub surface.In this paper,through a series of analysis and calculation and trajectory simulation experiments,the spray trajectory planning of hub surface is finally realized.The main research contents are as follows:(1)The main factors affecting the quality of sprayed surface are analyzed.The mathematical model of ? distribution spraying was established.The three main influencing factors of spraying height,spraying gun speed and spraying track spacing were analyzed and simulated.Finally,the main technological parameters suitable for hub spraying were determined.(2)Using STL model to generate hub spray trajectory.The vertex and normal vector data of hub STL model are read in MATLAB.According to the spraying process parameters,the improved layered slicing algorithm is used to slice the hub STL model.The intersection point set of triangular slice body and tangent plane is obtained.The data points are offset by a spraying height along the normal vector,and finally the spraying path points of robot motion are obtained.(3)The kinematics of IRB4400 spraying robot is analyzed.In view of the shortcomings of the traditional inverse kinematics analysis method in solving complex problems,an algorithm for solving the inverse kinematics of the robot by using BP neural network is proposed.The simulation of the robot workspace and the verification of the inverse kinematics algorithm are realized by programming in Robot Tools,which proves that the kinematics algorithm is effective.(4)The spatial straight line interpolation and circular arc interpolation are carried out on the spraying path points in Cartesian space.Polynomial interpolation is analyzed in joint space,and aiming at the problem that it cannot provide uniform speed control,a five-segment S-curve acceleration and deceleration interpolation method that can restrict speed is adopted.Taking off-line programming software Robot Studio as the simulation verification platform,two IRB4400 spraying robots are used to carry out kinematic simulation on the spraying trajectory of the hub,and RAPID programming is carried out.Smooth and stable spray gun end trajectory curve and joint angle change curve are obtained,which verifies the rationality of the hub spraying trajectory planning.