带矢量的STL切片处理的实现

采用机器人携带喷枪进行表面喷涂时，喷枪的运行轨迹（位置和角度）是决定喷涂质量的关键，为此需要快速而准确地获得待喷涂零件表面上各点的位置和该点处的法向矢量。本文提出了一种由程序直接获取机器人运行轨迹的方法：首先在普通CAD软件中对待喷涂零件三维建模并转换为STL文件，然后对STL文件的数据格式进行矢量扩展和切片处理，得到一系列带有方向的点系，最后按照一定规律排序形成机器人的运行轨迹。该方法将快速成形的切片技术用于表面喷涂工艺的机器人轨迹规划，从而精确地控制喷枪的运行位置、角度以及喷枪与待喷涂工件之间距离。最后还对得到的轨迹进行了模拟运行和机器人实际喷涂试验，证明了其准确性和有效性。

Realization of STL Slice Process with Vector

When robot sprays the surface by gun, the key of spray quality is the motion trajectory of gun, so the position and the vector of the solid surface's points must be acquired quickly. A technique of acquiring the motion trajectory of robot directly is presented in the paper: firstly, three-dimensional model of work-piece is created in common CAD software and changed into STL format file, then a series of points with direction acquired through vector expand and slice process of the STL file, lastly robotic motion trajectory is formed according definite rule. The slice technology of the Rapid Prototype can be used in spray robotic trajectory design in this technique, so the position, angle and distance between spray gun and work-piece can be controlled accurately. Finally, through trajectory simulation and robotic spray test prove the availability and veracity.