闭式叶轮铣削加工干涉自修正轨迹规划算法

Path planning algorithm for automatic correction of interference in closed impeller milling

针对目前绝大部分商用CAD/CAM软件在刀具轨迹规划过程中只能检测干涉碰撞的发生、而无法自动生成无干涉碰撞刀具轨迹的问题,提出了一种干涉碰撞自修正算法.该算法提取避让几何体边界,利用配置空间理论把提取的避让几何体边界映射到二维配置空间中,将三维空间中的干涉碰撞问题转化到二维空间中,并利用空间分区二叉树、多边形偏置等算法,解决了自动修正干涉碰撞处刀具姿态的问题.应用该算法生成了闭式叶轮流道的刀具轨迹,从刀具轨迹规划的效果上看,提出的算法确实避免了闭式叶轮刀具轨迹规划过程中干涉碰撞的发生.

In order to solve the problem that in the path planning process of cutting tools,most of commercial CAD/CAM software could only detect the occurrence of interference and collision,but could not automatically generate the tool path without interference and collision,an algorithm for automatic correction of interference and collision was proposed.The algorithm extracted the boundary of avoidance geometry,and mapped the extracted boundary of avoidance geometry into two-dimensional（2D） configuration space with the configuration space theory.The interference and collision problem in three-dimensional（3D） space was transformed into that in 2D sapce.In addition,such algorithms as spatial division binary tree and polygon offset were utilized to solve the problem concerning the orientation of cutting tool at the automatic correction position of interference and collision.The proposed algorithm was applied to generate the tool path of closed impeller runner.It can be noted from the path planning effect of cutting tool that the proposed algorithm can indeed avoid the occurrence of interference and collision in the path planning process of cutting tool for closed impeller milling.