摘要
针对在线示教产生的工具路径不能满足复杂目标路径要求这一问题,研究了基于STL模型切片算法生成机器人工具路径的优化设计问题。通过SolidWork建模软件生成加工表面的STL文件;然后生成每个切片层的三角面片分组数组;推导出分组数组中的三角面片与切平面的交点组坐标以及走向;最后利用平衡二叉树寻找每个切片层中各个有向交点组连接关系,得到满足连续的交点组集合。使用Python2.7在Anaconda2环境中进行仿真,仿真结果表明:该优化设计可以生成满足复杂目标路径精度要求的机器人工具路径。
The precision of the tool path generated by the traditional online teaching programming can not meet the requirements of machining complex target path. The optimization design of robotic tool path based on STL model slicing algorithm is studied. Firstly, the STL file for the machined surface is generated by SolidWork modeling software. Then an array of triangle for each slicing layer is generated. The coordinate and the direction of the intersection group generated by the slicing layer and the edge of the triangle of the patch array are derived. Finally, self-balancing binary search tree algorithm is used to find the connection relation of each directional intersection group in each slicing layer, and a set of consecutive intersection group is obtained. The simulation results show that the optimization design can generate the tool path which meets the precision requirement of complex target path by using Python 2.7 in Anaconda 2 environment.
出处
《机械工程与自动化》
2017年第5期55-57,共3页
Mechanical Engineering & Automation
