Path Generation for Robotic Polishing of Free-form Surfaces | |
Li, Zhaosheng1,2![]() ![]() ![]() | |
2019 | |
会议名称 | IEEE International Conference on Mechatronics and Automation |
会议日期 | 2019 |
会议地点 | Tianjin |
摘要 | This paper develops an off-line programming system to generate tool paths for robotic polishing. The system extracts CAD data from STL format files of free-form surfaces and builds topology relations of triangular facets. We adopt direction-parallel path pattern, since it needs less degrees of freedom and is much easier to avoid the physical intervention and the dynamic singularity. We incorporate topology relations of triangular facets into the direction-parallel path generation algorithm with equal axis intervals, so this can remove the redundant data and facilitate the efficiency of path generation. Again, we propose the constant contour interval path generation algorithm, which can generate paths with equal contour intervals. The generated paths with equal contour intervals are desired for robotic polishing. We implement the off-line programming system based on Qt and OpenGL. The system can generate accurate and uniform paths of free-form surfaces, such as the turbine blade surface and the propeller blade surface. |
关键词 | path generation free-form surface robotic polishing off-line programming |
收录类别 | EI |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/39226 |
专题 | 模式识别实验室 |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences, Beijing, China 2.Shanghai Aircraft Manufacturing Co. Ltd, Shanghai, China 3.University of Chinese Academy of Sciences, Beijing, China |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Li, Zhaosheng,Shang, Linlin,Wang, Wei,et al. Path Generation for Robotic Polishing of Free-form Surfaces[C],2019. |
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