An algorithm for trajectory planning of complex surface parts for laser cladding remanufacturing
An algorithm for trajectory planning of complex surface parts for laser cladding remanufacturing
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DOI：
10.1177/0954405420987712
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发表时间：
2021-10
期刊：
影响因子：
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通讯作者：
Jinduo Liu;W. Sun;Yong Huang
中科院分区：
文献类型：
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作者：
Jinduo Liu;W. Sun;Yong Huang
本文旨在解决复杂零件的激光熔覆问题，提出了一种复杂零件的轨迹规划方法。首先，将零件模型转换为立体光刻（STL）文件，建立平面组，平面组的间距由重叠率确定，且方向垂直于激光扫描方向。此外，为了获得良好的熔覆性能，提出了一种基于相邻熔覆高度误差的搜索算法来选择有效点。在此之后，根据由角度决定的相对位置将相邻点聚类到一个数据集中。同时，根据几何特征计算所有点的位置和姿态并存储。采用变位机和机器人协同工作，利用变位机调整当前点的姿态，即当前点的熔池处于水平状态，这可以确保熔覆后曲面零件的成形精度。最后，进行了曲面零件的熔覆实验。分析结果表明，涂层表面光滑，结构致密，无缺陷。该方法可应用于其他曲面零件。
This paper aims to solve the problem of laser cladding for complex parts, a trajectory planning method for complex parts is proposed. First, the part model is transformed into stereolithography (STL) files, the plane groups are established where the spacing of plane groups is determined by the overlap ratio, and the direction is perpendicular to the laser scanning. Further, to obtain the excellent cladding performance, a search algorithm based on the height error of adjacent cladding is proposed to select effective points. After this, adjacent points are clustered to a dataset according to the relative position that decided by the angle. Meanwhile, the position and the attitude of all points are calculated by the geometrical characteristics and then stored. The cooperate work of positioner and robot is adopted, the attitude of the current point is adjusted using the positioner, that is, the molten pool of the current point is in a horizontal state, which can ensure the forming accuracy of curved parts after cladding. Finally, the cladding experiment of curved surface parts is carried out. The results of the analysis showed that the coating had a smooth surface and a compact structure without defects. This method can be applied in other curved parts.