摘要
针对数控机床加工过程中可能出现的碰撞问题,提出一种基于层次包围盒与改进GJK算法的碰撞检测算法。采用自顶向下方法构建AABB层次包围盒进行碰撞粗检测,并通过平移向量和旋转矩阵对AABB包围盒进行投影变换以实现其动态更新。采用基于分离轴定理改进的GJK算法实现精检,通过构造安全距离球体并将距离计算转化为球体-四面体相交检测问题,同时设计提前退出机制,以提高距离精检测效率。最后,基于Unity 3D引擎和Visual Studio软件构建虚拟仿真环境,以验证所提算法的有效性。仿真结果表明:该算法能准确判断机床部件之间的最短距离是否小于安全值,并在仿真界面中进行高亮和报警提示;仿真过程中实时帧率稳定在103帧/s以上,远高于30帧/s的流畅标准要求;与传统GJK算法相比,该算法检测时间显著缩短。
To address potential collision issues in CNC machining processes,a collision detection algorithm based on hierarchical bounding box and an improved GJK algorithm was proposed.A top-down approach was adopted to construct AABB hierarchical bounding boxs for coarse collision detection,and projection transformations were applied to the AABB boxs using translation vectors and rotation matrices to achieve dynamic updates.An improved GJK algorithm based on the separating axis theorem was employed for precise detection,where a safe-distance sphere was constructed and distance computation was transformed into a sphere-tetrahedron intersection detection problem,and an early exit mechanism was also designed to enhance the efficiency of precise distance detection.Finally,a virtual simulation environment was built based on the Unity 3D engine and Visual Studio to validate the effectiveness of the proposed algorithm.Simulation results show that using the algorithm,whether the minimum distance between machine tool components is less than the safety threshold can be accurately determined,with highlighted warnings displayed in the simulation interface.The real-time frame rate remains stable above 103 frames/s during simulation,significantly exceeding the 30 frames/s standard for smooth performance.Compared with the traditional GJK algorithm,the proposed method demonstrates a notable reduction in detection time.
作者
秦浩然
徐坚磊
鞠立涛
胡燕海
柯世峰
QIN Haoran;XU Jianlei;JU Litao;HU Yanhai;KE Shifeng(Faculty of Mechanical Engineering and Mechanics,Ningbo University,Ningbo Zhejiang 315211,China;Zhejiang Hanggong Intelligent Technology Group Co.,Ltd.,Ningbo Zhejiang 315048,China)
出处
《机床与液压》
北大核心
2025年第23期152-157,共6页
Machine Tool & Hydraulics
基金
国家自然科学基金青年科学基金项目(51705263)
“科创甬江2035”重点研发计划项目(2025Z042)。
关键词
虚拟仿真
碰撞检测
层次包围盒
GJK算法
virtual simulation
collision detection
hierarchical bounding box
GJK algorithm
