机器人弧焊增材制造离线编程系统研究

发布时间：2018-05-11 05:33

本文选题：增材制造 + 分层切片　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：基于弧焊的金属材料增材制造具有成形效率高、成本低、容易控制、加工柔性大和制件规格限制小等优点。开发具有自主知识产权的增材制造软件，对金属材料增材制造的实际应用与推广具有重要意义。本文对增材制造离线编程系统中分层切片、路径规划和动画仿真等功能进行了深入的研究。在STL模型文件分层切片算法的基础上，通过OpenGL自身功能函数，实现STL模型切片的可视化；采用线结构光三维检测与传感系统获得三维点云数据，经过点云处理后，利用点云直接比较的方法获得待加工零件部位的点云数据，开发一种点云模型切片算法实现点云的切片。在此基础上，增添零件模型的再切片功能。利用三维虚拟环境中对点拾取进行片层区域划分的方法，对待加工区域划分为边面环三种情况进行路径规划，使复杂零件的层片加工难度降低。基于边形状的截面轮廓的路径规划，主要判断零件是否满足边形状的要求，，对于二次曲线，则通过最小二乘法进行曲线拟合。对于面形状的截面轮廓，通过算法使凸多边形和凹多边形的截面轮廓数据有序化，形成闭合轮廓线。基于环形状的截面轮廓的路径规划，对于简单的圆筒形工件，通过计算圆的方程进行路径规划；对于普通的多边形截面的筒形工件，通过获得筒形工件内层数据点，采用轮廓偏移的方式直接形成路径。开发KUKA机器人仿真程序模块，通过增材制造软件进行焊接相关信息的获取，利用OpenGL对窗口进行渲染，在双缓冲技术的前提下，满足焊接相关参数的设定，进行增材制造过程动画仿真；并且在仿真程序上添加辅助功能，实现仿真过程的视频录制和屏幕图像保存，用于对增材制造过程形成感官认识，对零件设计阶段起到验证作用，对零件加工过程起到参考作用，加深对生产过程和制造系统的认识和理解，有利于对生产过程、制造系统整体进行优化配置。结合增材制造离线编程系统进行成形试验，结果表明该系统功能较完备、使用方便、运行稳定可靠。
[Abstract]:Arc welding based metal material fabrication has the advantages of high forming efficiency, low cost, easy control, large flexibility and small specification limitation. It is of great significance for the practical application and popularization of metal material manufacturing to develop the material increasing manufacturing software with independent intellectual property rights. In this paper, the functions of delamination, path planning and animation simulation in off-line programming system are studied. Based on the layered slicing algorithm of STL model file, the visualization of STL model slicing is realized through the function of OpenGL, and the 3D point cloud data is obtained by the 3D detection and sensing system of linear structured light, which is processed by point cloud. The point cloud data of the parts to be processed are obtained by the method of point cloud direct comparison, and a point cloud model slicing algorithm is developed to realize the point cloud slicing. On this basis, the re-slicing function of the part model is added. In this paper, we use the method to partition the lamellar area of point pick-up in 3D virtual environment, and divide the processing area into edges. Face? In order to reduce the processing difficulty of complex parts, the path planning is carried out in three kinds of cases. Based on the path planning of section contour with edge shape, it mainly determines whether the part meets the requirements of edge shape. For conic, the curve fitting is carried out by least square method. For the cross-section contour of plane shape, the section contour data of convex polygon and concave polygon are ordered by the algorithm, and the closed contour line is formed. For simple cylindrical workpiece, path planning is carried out by calculating the equation of circle, and for cylindrical workpiece with common polygonal section, the inner layer data points of cylindrical workpiece are obtained. The contour offset is used to form the path directly. The simulation program module of KUKA robot is developed. The welding related information is acquired by the material adding software, and the window is rendered by OpenGL. Under the premise of double buffering technology, the welding related parameters are set. Animation simulation of the material increasing manufacturing process is carried out, and auxiliary function is added to the simulation program to realize video recording and screen image preservation of the simulation process, which is used to form sensory understanding of the material increasing manufacturing process and to verify the part design stage. It is helpful to optimize the configuration of production process and manufacturing system as a whole, and to deepen the understanding and understanding of production process and manufacturing system. The results show that the system has the advantages of complete function, convenient use, stable and reliable operation.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TG409

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