机器人抛磨自由曲面的分片路径规划研究

Research on Paths of Fragmentation Planning for Robot Polishing Free-form Surface

针对机器人抛磨自由曲面精度不高的问题,根据计算机图形信息、曲面构造特点以及机器人抛磨的最佳路径,提出基于曲率和加工工艺相结合的自由曲面二次分片规划。首先,构造自由曲面,由计算机获取自由曲面的图形信息,计算整个自由曲面的曲率。按曲率的某一范围,把曲面分成若干个不规则的子曲面片。其次,依据机器人的轨迹是等间距矩形时,加工效率最高,进一步把不规则曲率子曲面片分成规则的矩形子曲面片,完成二次分片。根据分片规划进行仿真实验,结果表明,按照这种二次分片规划,可以提高机器人抛磨的加工效率和加工精度。

Aiming at the problem that the precision of robot polishing free-form surface is not high,a quadratic fragmentation planning of free-form surface based on curvature and processing technology is proposed according to the graphics information of computer the characteristics of surface construction and the optimal path of robot polishing.Firstly,the free-from surface is constructed,the graphical information of the free-form surface is obtained by computer,and the curvature of the whole free-form surface is calculated.According to a certain range of curvature,the surface is divided into several irregular surface pieces.Secondly,as the processing efficiency is the highest when the robot’s trajectory is equidistant rectangle,the irregular surface pieces is divided into regular rectangle sub-surface pieces and the quadratic fragmentation is completed.The simulation results of fragmentation planning show that the processing precision and processing efficiency of robot polishing can be improved according to the quadratic fragmentation programming.