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首页> 外文期刊>International Journal of Robotics & Automation >ROBOTIC PATH PLANNING FOR AN AUTOMATIC MOLD POLISHING SYSTEM
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ROBOTIC PATH PLANNING FOR AN AUTOMATIC MOLD POLISHING SYSTEM

机译：自动模具抛光系统的机器人路径规划

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摘要

This study focuses on path planning of an automatic mold-polishing system. A geometric data structure of the mold was created in the software system according to the IGES format. The 3D model of the mold was reconstructed by the system. The robotic polishing path was planned based on the geometric characteristics of the mold surface and the task requirements. Weaving function embedded in the scanning-line path was created on the planar surface, fractal path was used on the surfaces of revolution, and scanning-line path was used on the free-form surfaces. The mold geometry and the polishing paths were drawn in 3D for verification. Finally, a dedicated five-axes robot executed the polishing path. Experiments showed the path did evenly cover the mold surface and the robotic polishing task satisfied our expectations.
机译：这项研究的重点是自动模具抛光系统的路径规划。根据IGES格式，在软件系统中创建了模具的几何数据结构。系统重建了模具的3D模型。根据模具表面的几何特征和任务要求来规划自动抛光路径。在平面上创建嵌入在扫描线路径中的编织功能，在旋转表面上使用分形路径，在自由曲面上使用扫描线路径。模具几何形状和抛光路径以3D形式绘制以进行验证。最后，一个专用的五轴机器人执行了抛光路径。实验表明，该路径确实覆盖了模具表面，并且机器人抛光任务满足了我们的期望。

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