Introducing a novel mesh following technique for approximation-free robotic tool path trajectories
Introducing a novel mesh following technique for approximation-free robotic tool path trajectories
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DOI：
10.1016/j.jcde.2017.01.002
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发表时间：
2017-07
期刊：
影响因子：
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通讯作者：
C. Mineo;S. Pierce;P. Nicholson;I. Cooper
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文献类型：
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作者：
C. Mineo;S. Pierce;P. Nicholson;I. Cooper
用于设计和制造具有复杂几何形状的大型部件的现代工具可以实现更灵活的生产，缩短周期时间。这是通过传统的减材方法和新的增材制造工艺相结合来实现的。通过数控机械或机器人操作器生成最佳刀具路径以在曲面样品上执行特定动作（例如零件制造或检查）的问题将越来越多地遇到。零件的可变性通常妨碍直接使用原始设计CAD数据生成刀具路径（特别是对于复合材料），而曲面映射软件通常用于生成镶嵌模型。然而，这种模型不同于精确的分析模型，并且通常不适合用于当前商业上可获得的路径规划软件，因为它们需要几何实体被数学表示的格式，从而引入传播到生成的刀具路径中的近似误差。这项工作采用了一种根本不同的方法，这样的表面映射，并提出了一种新的网格跟随技术（MFT）的生成刀具路径直接从镶嵌模型。该技术不引入任何近似，并允许更平滑和更准确的表面以下的刀具路径生成。介绍了新的MFT算法的数学背景，并通过一个应用实例对该算法进行了测试验证。进行了比较计量实验，以评估跟踪性能的MFT算法相比，通过商业软件生成的工具路径。结果表明，MFT刀具路径产生的误差小40%，平均值附近的分散度低66%。HighlightsThis工作提出了一种从镶嵌模型生成刀具路径的技术。该技术不引入近似曲面跟踪刀具，路径。进行了比较计量实验来评估该技术。该技术产生更小的误差和更低的平均值分散度。所开发的方法与日益增长的表面映射技术的使用是一致的。
Modern tools for designing and manufacturing of large components with complex geometries allow more flexible production with reduced cycle times. This is achieved through a combination of traditional subtractive approaches and new additive manufacturing processes. The problem of generating optimum tool-paths to perform specific actions (e.g. part manufacturing or inspection) on curved surface samples, through numerical control machinery or robotic manipulators, will be increasingly encountered. Part variability often precludes using original design CAD data directly for toolpath generation (especially for composite materials), instead surface mapping software is often used to generate tessellated models. However, such models differ from precise analytical models and are often not suitable to be used in current commercially available path-planning software, since they require formats where the geometrical entities are mathematically represented thus introducing approximation errors which propagate into the generated toolpath. This work adopts a fundamentally different approach to such surface mapping and presents a novel Mesh Following Technique (MFT) for the generation of tool-paths directly from tessellated models. The technique does not introduce any approximation and allows smoother and more accurate surface following tool-paths to be generated. The background mathematics to the new MFT algorithm are introduced and the algorithm is validated by testing through an application example. Comparative metrology experiments were undertaken to assess the tracking performance of the MFT algorithms, compared to tool-paths generated through commercial software. It is shown that the MFT tool-paths produced 40% smaller errors and up to 66% lower dispersion around the mean values.HighlightsThis work presents a technique for generation of tool-paths from tessellated models.The technique does not introduce approximations to surface following tool-paths.Comparative metrology experiments were carried out to assess the technique.The technique produces smaller errors and lower dispersion around the mean values.The developed method is aligned with the growing use of surface mapping techniques.