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针对同轴送粉激光熔覆成形复杂曲面的工艺过程中,机器人轨迹规划困难的问题,提出一种从CAD(计算机辅助设计)模型自动生成机器人加工轨迹的新方法,提高机器人熔覆的效率。首先对复杂曲面零件模型进行了分析,采用拉普拉斯算子的方法对网格模型进行了优化。根据STL(立体光刻)文件的数据格式,提取零件的几何信息,基于三角面片边的拓扑关系重建三角面片的拓扑关系,通过包围盒的方法,生成沿逆时针方向的机器人轨迹,利用仿真实验动态地演示了熔覆的过程。最后通过熔覆实验验证了该方法生成机器人轨迹的可行性。
In order to solve the problem of robotic trajectory planning in the process of forming complex curved surface by coaxial powder feeding, a new method to automatically generate the robot’s machining trajectory from CAD (Computer Aided Design) model is proposed to improve the efficiency of robotic cladding. Firstly, the part model of complex surface is analyzed, and the Laplace operator method is used to optimize the mesh model. Based on the data format of the STL file, the geometric information of the part is extracted, the topological relationship of the triangular facets is reconstructed based on the topological relations of the triangular facets, and the trajectory of the robot in the counterclockwise direction is generated by the bounding box method. The simulation experiments demonstrate the process of cladding. Finally, the feasibility of this method to generate robot trajectory is verified by the cladding experiment.