面向增材制造的机器人轨迹自动生成技术

Robot trajectory automatic generation technology for additive manufacturing

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模型自动生成机器人加工轨迹的新方法,以提高机器人熔覆的效率。首先对复杂曲面零件模型进行分析,采用拉普拉斯算子的方法对网格模型进行了优化。根据立体光刻模型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。

Aiming at the difficulty of robot path planning for forming complex parts in coaxial laser cladding powder,a new technology of automated path generation was proposed from Computer-Aided Design（CAD）model to improve the robot cladding efficiency.The geometrical model of complex curved surface part was analyzed,and the mesh model was optimized with Laplacian Operator Method（LOM）.The geometrical information of cured part was extracted according to Stereo Lithography（STL）model,and the topological relationship among triangular facets was built based on topological relationship between edges of triangles.Robot path with a counterclockwise direction was generated by the method of bounding box,and a simulation experiment was used to demonstrate the cladding process.A cladding experiment showed the feasibility of the path generation based on CAD.