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浙江大学学报(工学版)
浙江大学学报(工学版)
机械与能源工程     
基于三角网切片及碰撞检测的工业机器人三维头像雕刻
何雪军, 王进, 陆国栋, 刘振宇, 陈立, 金晶
1.浙江大学 流体动力与机电系统国家重点实验室,浙江 杭州 310027；
2.杭州新松机器人自动化有限公司,浙江 杭州 311200
3D head portrait sculpture by industrial robot based on triangular mesh slicing and collision detection
HE Xue-jun, WANG Jin, LU Guo-dong, LIU Zhen-yu, CHEN Li, JIN Jing
1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China; 2. Hangzhou SIASUN Robot and Automation Co. LTD, Hangzhou 311200, China
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摘要：

研究模型三角网的截面求交算法（包括水平切片、径向切片等）,获得模型表面不同方向上的凸凹信息,便于刀具姿态的自动调整.以水平截交线与模型点集的最小包容圆为内、外边界,通过内边界向外均匀偏置获得层切刀轨,并将违反边界约束的点映射到包容圆上.在此基础上,提取出模型正面加工轨迹,根据偏置序号大的轨迹优先加工、偏置序号相同的轨迹从上往下加工的原则,确定一种Zigzag型加工路线.基于OpenGL图形引擎,建立新松SR6C型工业机器人的仿真平台,对生成的轨迹进行仿真,并利用石膏进行实际加工验证.结果表明,所生成的加工轨迹能够避免碰撞的发生,加工成品较好地再现了虚拟模型.
Abstract: Firstly, the intersection algorithm was investigated based on triangular mesh model (horizontal slicing, radial slicing, etc.) to obtain surface unevenness in different directions, so as to adjust the tool posture automatically. Secondly, horizontal intersection line and minimal enclosing circle of the model point sets were selected as internal and external borders；layer-cutting tool path was produced through internal border offsetting outward uniformly; offset points which violate boundary constraint were mapped to the enclosing circle. Based on this, tool path for the front model was extracted; a Zigzag route was formed based on the principles that tool path with larger offset index should be processed first and those with the same index should be processed from up to down. A simulation platform was created for SIASUN SR6C type robot in light of graphic engine OpenGL. The generated tool path was simulated before processing; a verification experiment was carried out with plaster. Results show that the tool path generated is possible to avoid collision and the finished part is a well reproduction of the virtual model.
出版日期: 2017-06-11
CLC:  TH 164  
基金资助:

中国博士后科学基金资助项目（509100-X91504）；国家自然科学基金资助项目（51275460）；杭州市重大科技创新资助项目（20132111A04）.
通讯作者: 王进,男,副教授. ORCID: 0000-0003-3106-021X.     E-mail: dwjcom@zju.edu.cn
作者简介: 何雪军(1984—),男,博士,从事机器人技术研究. ORCID: 0000-0002-6846-1490. E-mail: hexuejun@zju.edu.cn
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引用本文:

何雪军, 王进, 陆国栋, 刘振宇, 陈立, 金晶. 基于三角网切片及碰撞检测的工业机器人三维头像雕刻[J]. 浙江大学学报(工学版), 10.3785/j.issn.1008-973X.2017.06.007.

HE Xue-jun, WANG Jin, LU Guo-dong, LIU Zhen-yu, CHEN Li, JIN Jing. 3D head portrait sculpture by industrial robot based on triangular mesh slicing and collision detection. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2017.06.007.

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