The method of cutting of flexible parts using manipulators and information multiplexing from 3D vision system and CAD model
The method of cutting of flexible parts using manipulators and information multiplexing from 3D vision system and CAD model
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DOI：
10.1109/ic3ina.2015.7377763
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发表时间：
2015-10
期刊：
影响因子：
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通讯作者：
V. Filaretov;D. Yukhimets;A. Zuev;A. Gubankov;E. Mursalimov
中科院分区：
文献类型：
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作者：
V. Filaretov;D. Yukhimets;A. Zuev;A. Gubankov;E. Mursalimov
本文提出了一种任意形状柔性零件下料的新方法。该方法基于四个原则：1）借助通用设备简单、快速地固定任何柔性零件，其几何形状可能发生变形; 2）通过3D视觉系统扫描变形零件; 3）将先验已知的零件CAD模型与扫描接收的模型进行复用; 4）自动生成机械手工作工具的新运动轨迹。为实现该方法，提出了两模型的复用和从CAD模型到变形模型的切割路径转换算法。仿真结果表明，该算法能够在工件变形时精确规划出机械手的工作刀具路径，从而保证加工质量。
This paper presents new method of cutting of flexible parts with arbitrary geometrical form. Proposed method is based on four principles: 1) simple and rapid fixation of any flexible parts with the help of universal devices with possible deformation of its geometric forms; 2) scanning of the deformed parts by means of 3D vision system; 3) multiplexing of priori known CAD model of parts with the model, received by scanning; 4) automatic generation of new motion trajectory of manipulator's working tool. For realization of this method an algorithm of multiplexing of two models and transferring of cutting path from the CAD model to deformed model is developed. Conducted mathematical simulation showed that proposed algorithm provides the accurate path planning of manipulator's working tool at deformation of parts and hence to provide the quality cutting.