面向多轮廓的机器人加工路径优化研究

Research on Robot Processing Path Optimization for Multi-contour

针对多轮廓零件机器人加工的路径优化问题,提出了一种基于改进遗传算法和最小外接三角形法的机器人加工路径规划新方法。采用基于改良圈的遗传算法优化任意选择的走刀路径,得到轮廓加工序列,而最小外接三角形法对该轮廓序列动态寻找各轮廓入刀节点,构建走刀路径,经过反复迭代,得到了一条优化的走刀路径。仿真结果表明,所提算法可有效构建机器人走刀路径,缩短空行程。

The problem of robot processing path optimization for multi-contour parts was studied, and a new path planning algorithm based on the improved genetic algorithm and the minimum external triangle method was proposed. The genetic algorithm based on modified circle was applied to optimize the cutting path which selected arbitrarily, and an optimal contour sequence was found. The minimum external triangle method was used to seek the node as the tool entrance on each adjacent contour dynamically, and an optimal cutting path was constructed through several iterations in this way. Simulation results show that the cutting path for robot can be constructed effectively and the non-cutting path can be shortened by using the proposed algorithm.