摘要
提出了一种面向复杂曲面加工的工业机器人轨迹生成算法。该算法可用在工业机器人离线编程系统中;通过CAD/CAM技术完成复杂曲面的建模,并提取其STL文件格式数据;根据三角面片各点坐标在切片方向上投影的最大和最小值反求与此三角面片相交的切平面,并对三角面片分组,然后推导出三角面片边上相邻交点的增量公式,最后通过机器人编程得到复杂曲面的加工运动轨迹。仿真结果表明,该算法稳定可靠,而且可以生成任意复杂曲面的加工运动轨迹。
It presents an algorithm of industrial robot on path generation for complex surface machining.The algorithm can be used in industrial robot off-line programming system.The complex surface is modelled through the CAD/CAM technology,and the data of its STL file format are extracted.The slicing planes intersecting with the triangle meshes are determined by slicing precision associated with minimum and maximum values of projection of each vertex of triangles on normal direction of the slicing plane.Then the algorithm divides the triangular facets into groups.Next it derives the iterative formula of the adjacent intersection point on the edge.Finally,it can get the movement path of complex surface machining through robot programming.It makes a simulation of path generation for the complex irregular surface by the algorithm.Simulation result shows that,this algorithm is not only stable and reliable,and can generate motion path of arbitrary complex surface.
出处
《机械设计与制造》
北大核心
2013年第11期175-178,共4页
Machinery Design & Manufacture
基金
广东省战略性新兴产业项目(2011A091101001)
关键词
复杂曲面
机器人编程
运动轨迹
Complex Surface
Robot Programming
Motion Path
