基于钣金件层次包围盒的折弯碰撞检测方法

Collision Detection Method Based on Hierarchical Bounding Box of Sheet Metal Bending

针对机器人钣金折弯过程中可能发生的干涉、碰撞问题,就钣金折弯的碰撞进行检测研究。基于对钣金中性层的分析,计算各钣金基体间的相对位置关系,对各钣金基体创建紧密性较好的OBB包围盒;为减少碰撞检测次数,提出面向钣金件的层次包围盒树状结构,通过与机器人操作末端抓手连接的钣金件抓取基体底面,创建钣金件OBB包围盒并做粗碰撞检测。当发生干涉情况,则将各基体分割成更小的OBB包围盒以有效减少计算次数。仿真试验表明:该检验方案的效率较高。

Aiming at the possible occurrences of interference and collision in the process of robot sheet metal bending,the research on the collision detection of sheet metal bending is carried out.Based on the analysis of the sheet metal neutral layer,the relative positional relationship between the sheet metal substrates is calculated and a tight OBB bounding box is created for each sheet metal substrate.In order to reduce the number of collision detections,a hierarchical bounding box tree structure for sheet metal parts is proposed.The sheet metal part connected with the robot operating end gripper is used to grab the bottom surface of the substrate to create the sheet metal part OBB bounding box and perform coarse collision detection.When interference occurs,each matrix is divided into smaller OBB bounding boxes to effectively reduce the number of calculations.The simulation test shows,the detection scheme has high efficiency.