流形网格上机构运动轨迹的参数化生成方法
注意:本论文已在 《机械工程学报》(中文版))2006,42(8):84-88,94发表
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孙玉文1 王海霞1 刘伟军2 王越超2
(1. 大连理工大学精密与特种加工教育部重点实验室 大连 116024;
2. 中国科学院沈阳自动化研究所 沈阳 110016)
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,当网格边界形状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路径。基于调和映射技术,提出了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,建立了在参数曲面基础上的ZigZag型及轮廓型等参数线轨迹的具体规划模型,给出了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:三角网格 调和映射 轨迹规划 可接近性分析
中图分类号:TP391
PARAMETRIC METHOD FOR KINEMATIC PATH GENERATION FROM MANIFOLD MESHES
un Yuwen1 Wang Haixia1 Liu Weijun2
Wang Yuechao2
(1. Key Laboratory for Precision & Non-traditional Machining of Ministry of Education, Dalian University of Technology, Dalian 116024;
2. Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016 )
Abstract:Triangular mesh surface has gained wide applications in industrial field. However, the tool path generation methods for polyhedral machining are very limited and the iso-plane method is still the common used method. A conformal map based iso-parametric 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, the 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 proposed method is boundary-conformed and can improve machining dynamics and efficiency greatly.
Key words:Triangular mesh, Conformal map, Tool path, Accessibility analysis
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