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浙江大学学报(工学版)
浙江大学学报(工学版)  2023, Vol. 57 Issue (1): 21-31    DOI: 10.3785/j.issn.1008-973X.2023.01.003
机械与能源工程     
面向电弧增材的单线激光扫描路径规划
靳佳澳1,2(),沈洪垚1,2,*(),孙扬帆1,2,林嘉浩1,2,陈静霓1,2
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. 浙江大学 浙江省三维打印工艺与装备重点实验室，浙江 杭州 310027
Single-line laser scanning path planning for wire arc and additive manufacturing
Jia-ao JIN1,2(),Hong-yao SHEN1,2,*(),Yang-fan SUN1,2,Jia-hao LIN1,2,Jing-ni CHEN1,2
1. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
2. Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, Zhejiang University, Hangzhou 310027, China
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摘要：

为了在电弧增材制造(WAAM)过程中获取零件的形貌尺寸信息，以CAD模型作为输入，通过实验分析单线激光扫描仪的工作约束条件，实现基于单线激光的零件外形扫描路径生成算法，开展仿真与实验验证. 通过多组实验获取合适的扫描距离和扫描角度作为路径规划约束，针对输入模型迭代使用最大连通区域求解算法、求解最小投影矩形、等重叠路径规划等多种方法生成单次扫描路径. 对单条路径优化，使用最近点搜索和碰撞检测算法，串联生成机器人末端运动轨迹，借助仿真对轨迹进行修正. 实验结果证明，该路径规划方法对电弧增材零件能够达到较好的测量精度、效率及覆盖率. 测量结果可以为后续增减材复合制造过程提供丰富的轮廓信息.
关键词： 电弧增材制造;  单线激光测量;  扫描约束;  路径规划;  误差分析    
Abstract:

The CAD model was used as input in order to obtain the shape and size information of the part in wire arc and additive manufacturing (WAAM). The working constraints of the single-line laser scanner were analyzed through experiments. The algorithm of scanning path generation for single-line laser automatic measurement was realized, and the effectiveness of the method was verified by simulation and experiment. The appropriate scanning distance and scanning angle were obtained as the path planning constraints through multiple experiments. The single scan path for the input model was iteratively generated by using methods such as maximum connected region solving algorithm, minimum projection rectangle solving, equal overlapping path planning, etc. The nearest point search and collision detection algorithm were used for a single path optimization in order to generate the trajectory of robot end in series. The trajectory was corrected by simulation. The experimental results show that the path planning method can achieve great measurement accuracy, efficiency and coverage for WAAM part. The measurement results can provide rich profile information for the subsequent additive and subtractive hybrid manufacturing process.
Key words: wire arc and additive manufacturing    single-line laser measurement    scanning constraint    path planning    error analysis
收稿日期: 2022-03-01 出版日期: 2023-01-17
CLC:  TH 741  
基金资助: 国家自然科学基金资助项目(51975518，51821093)；国家青年科学基金资助项目(52005438)；浙江省杰出青年科学基金资助项目(LR22E050002)；宁波市科技计划资助项目(2020Z012)；浙江省重点研发计划资助项目(2021C01096)
通讯作者: 沈洪垚     E-mail: jinjiaaoux@foxmail.com;shenhongyao@zju.edu.cn
作者简介: 靳佳澳（1997—），男，硕士生，从事增减材复合制造的研究. orcid.org/0000-0002-8155-4229. E-mail： jinjiaaoux@foxmail.com
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靳佳澳
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引用本文:

靳佳澳,沈洪垚,孙扬帆,林嘉浩,陈静霓. 面向电弧增材的单线激光扫描路径规划[J]. 浙江大学学报(工学版), 2023, 57(1): 21-31.

Jia-ao JIN,Hong-yao SHEN,Yang-fan SUN,Jia-hao LIN,Jing-ni CHEN. Single-line laser scanning path planning for wire arc and additive manufacturing. Journal of ZheJiang University (Engineering Science), 2023, 57(1): 21-31.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2023.01.003    或    https://www.zjujournals.com/eng/CN/Y2023/V57/I1/21

图 1  WAAM零件的外形示意图
图 2  单线激光扫描仪的约束条件
图 3  扫描约束的实验
图 4  平面拟合距离均方根与h和β的关系
图 5  扫描点数量与h、β的关系
图 6  扫描路径规划的流程图
图 7  薄壁转换体零件模型
图 8  最大连通区域的示意图
图 9  满足约束面片计算的示意图
图 10  连通区域扫描路径的生成
图 11  全覆盖时的三维扫描路径
图 12  去除空扫后的路径
图 13  有效扫描优化后的三维扫描路径
图 14  碰撞检测的示意图
图 15  转换体模型的三维路径规划结果
图 16  其他类型模型的三维路径规划结果
图 17  机器人扫描仿真系统
图 18  测量系统的坐标变换
图 19  机器人末端的仿真运动路径
图 20  扫描实验的过程
图 21  转换体的扫描点云
图 22  转换体零件的误差云图
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