面向复杂型面的机器人堆焊轨迹规划研究-机械电子工程专业毕业论文.docxVIP

I I II II 南京航空航天大学硕士学位论文 摘 要 RP（快速成形）技术是 20 世纪 80 年代末期兴起的一种集多种先进技术于一体的新型加工 技术。机器人三维堆焊是当前正在兴起的新型快速成形技术之一，它将计算机辅助设计和机器 人技术结合起来，进行堆焊操作，实现零件的直接成形。本文对机器人堆焊技术中的切片技术、 路径规划、离线编程等技术进行了研究和开发。 论文首先对现有切片方式进行了探讨。针对基于 STL 切片方式存在的不足，选用了基于 UG 二次开发的自适应切片方式，有效解决了采用 STL 切片带来的数据冗余、无拓扑信息等缺陷以 及采用固定层距所带来的模型细小特征容易被忽略的缺点。在成功将三维模型转化为二维平面 轮廓后，通过对现有扫描方式优缺点的分析，提出针对不同特征实体采用不同扫描方式：对内 外对称结构采用简单的内外环偏置扫描方式；对复杂结构先采用内外环偏置，然后分区域扫描 的复合扫描方式，有效避免了零件成形质量不高、焊枪需要大量启停的缺陷。同时，还进行了 离线编程设计，将生成的路径代码转换成了机器人可识别的机器代码。 进行了 OpenGL 建模和仿真实验，清晰直观的模拟出机器人在规定路径上的整个运动情况， 仿真表明上述切片技术与路径规划技术的有效性。 关键词：快速成形，UG/OPEN GRIP，自适应切片，路径规划，仿真，机器人 面向复杂型面的机器人堆焊轨迹规划研究 Abstract RP(Rapid Prototyping) is a new processing technology developed since 80s last century which is integrated of many kinds of advanced technology．Three-dimension build-up welding technology with the robot is a newly rised type of rapid prototyping technology，which combines Computer-Aided Design and robotics，at the same time this could form the parts directly．This paper focuses on the slicing and path planning technologies of the robot Three-dimension build-up welding ． The article discusses the present slicing method firstly．For the purpose of improving defect of the STL-based slicing approach, a secondary development of UG-based adaptive slicing method is adopted which brings an effective solution to the problems of data redundancy ， topological information deficiency and the distortion of small features due to the fixed layer． A new scanning algorithm is designed after the analysis of the advantages and disadvantages of the present scanning method. this method deals the entities of different characteristics with different scanning strategy：the internal and external symmetric structures using the simple bias scanning algorithm and the complex structures using the bias scanning first and then using the sub-regional compound scanning mode which successfully improves the low quality of parts and avoids many start stop operations of the welding torch． An off-line