• CN：11-2187/TH
  • ISSN：0577-6686
机械工程学报

›› 2006, Vol. 42 ›› Issue (8): 84-88.

• 论文 • 上一篇    下一篇

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流形网格上机构运动轨迹的参数化生成方法

孙玉文;王海霞;刘伟军;王越超   

  1. 大连理工大学精密与特种加工教育部重点实验室;中国科学院沈阳自动化研究所
  • 发布日期:2006-08-15

PARAMETRIC METHOD FOR KINEMATIC PATH GENERATION FROM MANIFOLD MESHES

SUN Yuwen;WANG Haixia;LIU Weijun;WANG Yuechao   

  1. Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, Dalian University of Technology Shenyang Institute of Automation, Chinese Academy of Science
  • Published:2006-08-15

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摘要： 在三角网格模型上操作机构的运动轨迹生成通常采用截面线法，当网格边界复杂时由此生成的运动轨迹很难保证与边界的一致性，从而产生较多较短的单条路径。基于调和映射技术，提出复杂网格曲面上机构运动轨迹参数化生成的一般方法。通过将复杂网格模型同胚映射到平面上的圆形区域或矩形区域，建立在参数曲面基础上的Zigzag型及轮廓型等参数轨迹线的具体规划模型，给出该种情况下轨迹离散点、行距及机构运动干涉的计算方法与解决方案。实例表明该轨迹生成方法具有良好的边界一致性，并因其固有的轨迹磨光性质提高了运动机构的动力学性能及运行效率。

关键词: 调和映射, 加工轨迹规划, 可接近性分析, 三角网格

Abstract: Triangular mesh surface gains wide applications in industrial field. However, the tool path generation methods for polyhedral machining are very limited and the isoplanar method is still the common used method. A conformal map based isoparametric method for kinematic path generation is proposed. Through establishing the parametric relations between the triangular meshes embedded in the 3D space and the rectangular or circular region on the 2D plane, zigzag or contour paths are finally implemented by inversely mapping the planar iso-parametric paths into the physical space. Also, the issues of CC point and side interval calculation as well as interference detection are discussed in detail. The results show that the pro-posed method is boundary-conformed and can improve ma-chining dynamics and efficiency in most cases.

Key words: Accessibility analysis, Conformal map Tool path planning, Triangular mesh

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