基于三角网切片及碰撞检测的工业机器人三维头像雕刻

发布时间：2018-02-11 06:35

本文关键词： 三维头像雕刻工业机器人切片算法碰撞检测离线编程　出处：《浙江大学学报(工学版)》2017年06期 　论文类型：期刊论文

【摘要】：研究模型三角网的截面求交算法(包括水平切片、径向切片等),获得模型表面不同方向上的凸凹信息,便于刀具姿态的自动调整.以水平截交线与模型点集的最小包容圆为内、外边界,通过内边界向外均匀偏置获得层切刀轨,并将违反边界约束的点映射到包容圆上.在此基础上,提取出模型正面加工轨迹,根据偏置序号大的轨迹优先加工、偏置序号相同的轨迹从上往下加工的原则,确定一种Zigzag型加工路线.基于OpenGL图形引擎,建立新松SR6C型工业机器人的仿真平台,对生成的轨迹进行仿真,并利用石膏进行实际加工验证.结果表明,所生成的加工轨迹能够避免碰撞的发生,加工成品较好地再现了虚拟模型.
[Abstract]:The cross-section intersection algorithm of the model triangle network (including horizontal slice, radial slice, etc.) is studied to obtain the convex and concave information in different directions on the surface of the model, which is convenient for the automatic adjustment of the tool posture. The minimum containment circle between the horizontal intersecting line and the set of model points is taken as the inner. On the outer boundary, the laminar cutting tool track is obtained by the uniform bias of the inner boundary, and the points that violate the boundary constraints are mapped to the containment circle. On this basis, the processing path of the front surface of the model is extracted, and the machining priority is given according to the track with large offset sequence number. Based on the principle of the same offset sequence number from top to bottom, a Zigzag machining route is determined. Based on the OpenGL graphics engine, the simulation platform of Xinsong SR6C industrial robot is established, and the generated trajectory is simulated. The results show that the generated machining trajectory can avoid collision and the virtual model can be reproduced well.
【作者单位】：浙江大学流体动力与机电系统国家重点实验室;杭州新松机器人自动化有限公司;
【基金】：中国博士后科学基金资助项目(509100-X91504) 国家自然科学基金资助项目(51275460) 杭州市重大科技创新资助项目(20132111A04)
【分类号】：TP242.2

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