保持形状特征的整体网格曲面变形算法

为了克服传统网格曲面变形对模型的特征只能进行近似控制的缺陷,提出一种精确的特征控制方法,使得模型特征在整体曲面变形中保持原有形状。首先提取形状特征的位置信息,将其作为变形过程中的刚性约束;再根据改进的离散拉普拉斯算子,建立反映网格曲面微分特性的柔性约束;对刚性约束条件引入拉格朗日乘子,结合柔性约束条件建立线性方程组,利用最小二乘法求出最优解,从而实现在保持形状特征的情况下网格曲面的整体变形。最后,通过实践应用证明了上述算法的合理有效性。     

A new method for classification and parametric representation of freeform surface feature

Representation and parameterization of freeform feature is one key issue in CAD. Based on the idea of layering freeform feature and feature global shape (FGS), a novel method for classification and parametric representation of freeform feature is proposed. Firstly, freeform features are classified in use of a multi-side method which combines FGS, approaches for surface generation, types of characteristic curves and their topological structures. Secondly, freeform feature is parameterized step by step from global to local shape, from basic to fine characteristic, and from high to low level, thus its representation can be unified. Lastly, the framework of three-level structures and two-grade mappings is put forward to define freeform feature so that parametric semantics can be clearer and it is convenient for users to edit and modify surface by intuitive parameters. It is shown in the examples that the method can effectively improve classification and parameterization of freeform feature. It can be applied to surface feature-based design and other domains as well.     

Contact force modeling and analysis for robotic tilted-disc polishing of freeform workpieces

This paper investigates the tool-workpiece contact mechanism in the disc polishing process, where the soft polishing disc touches the rigid freeform workpiece with a small tilt angle. The developed contact force model can explain how the contact parameters, including the disc contact depth, the disc tilt angle, the radii of curvature of the disc and the workpiece, affect the normal contact force. Under some reasonable geometric and mechanical assumptions of the disc and the workpiece, an approximated contact force equation is derived in a simple power-law form similar to the Hertzian contact model. The contact force is found to be positively related to the disc contact depth and the disc radius, while negatively related to the disc tilt angle and the workpiece normal curvature that is orthogonal to the feed direction. Both finite element simulations and experiments verify the effectiveness of the proposed contact force model. Furthermore, the material removal process is analyzed and a model-based process parameter planning method is developed to achieve uniform material removal considering the variation of workpiece curvatures.     

Grain mapping to freeform surface for machining using parameter-based incremental tracking method

This paper presents a novel method for mapping a texture for machining onto a freeform surface. When a grain texture designed on a 2D plane is projected onto a freeform surface simply, the texture is distorted along the curvature of the surface in the projection direction. Therefore, a method is required to suppress this distortion. The algorithm proposed in this paper rapidly generates a point cloud that represents a texture with less distortion on a simply connected parametric surface. Specifically, four equations that express local geometry constraints instead of conventional parameterization methods are presented to reduce the distortion between adjacent points on the point cloud. Solving these equations can generate grain textures on freeform surfaces. This paper examines two grain images mapped to two freeform surfaces that were prepared as case studies to demonstrate the effectiveness of the proposed method.     

A weighted least square based data fusion method for precision measurement of freeform surfaces

The trend towards product miniaturisation and multi-functionality constitutes a driving force for the application of complex surfaces in many fields such as advanced optics. The precision measurement of these surfaces should be carried out at multiple scales, of which process commonly involves several datasets obtained from different sensors. This paper presents a weighted least square based multi-sensor data fusion method for such measurement. The method starts from unifying the coordinate frames of the measured datasets using an intrinsic feature based surface registration method. B-spline surface is used to fit linear surface model to each identified overlapping area of the registered datasets, respectively. By forming a common basis function, the fitted surface models and the corresponding residuals are then combined to construct a weighted least square based data fusion system which is used to generate a fused surface model. An analysis of the uncertainty propagation in data fusion process is also given. Both computer simulation and actual measurement on various freeform surfaces are conducted to verify the validity of proposed method. The results indicate that the proposed method is capable of fusing multi-sensor measured datasets with notable reduction of the measurement uncertainty.     

基于遗传算法的非线性控制系统参数优化方法

本文针对非线性控制系统参数优化问题,结合非线性控制系统理论、最优化理论及遗传算法,提出了一种新的仿真优化方法,该方法利用遗传算法来求解非线性控制系统参数优化问题,由于遗传算法是在解空间的多个区域内进行搜索,能以较大的概率跳出局部最优,因此可技巧以整体最优解。仿真结果表明,该方法是一种有效的非线性控制系统参数优化方法。     

A laser sensor with multiple detectors for freeform surface digitization

In this paper, an integrated laser scanning sensor for freeform surface digitization is presented. The sensor consists of a diode laser light source and four position-sensitive device (PSD) detectors. The stand-off distance of the sensor is 180 mm and the measurable range is 90 mm. The Lambert model is applied to calculate the displacement between the sensor and the measured point on the object surface along the optical axis, under the assumption of a diffusive surface. The inclination angle of the measured point from the vertical plane of the laser beam is calculated by mathematical inference. Those data are used in error compensation to improve the system precision. The new design of multiple detectors could increase the measurable angle and could solve the dead-space problem in the single-point laser of triangulation measurement. The computer simulation and actual measurements show that the displacement resolution is around 50 μm, and the system performs well in terms of stability and repeatability. The sensor system could be mounted on the NC machine or on the X–Y platform for freeform surface digitization.     

基于Autodesk Inventor的三维参数化设计方法

应用三维Autodesk Inventor软件,以机械振动装置中板簧组件为例,介绍了零件的造型建模过程、零件的虚拟动画装配及判断虚拟装配中各零件之间是否相互干涉,从而对干涉的零件进行修改和结构调整的设计过程.体现了Autodesk Inventor软件在三维参数化设计中的强大功能及现代设计的优越性.     

面向异构参数化特征模型检索的本体映射方法

针对异构参数化特征模型难以检索重用的问题,建立了基于本体的特征表示模式,提出一种新的特征本体映射方法,将产品模型特征信息进行统一的语义描述,建立基于本体的特征模型库以有效地支持异构参数化特征模型的检索和重用.本体映射在系统特征本体和公共特征本体之间进行,基于相似性评价指标进行的特征概念匹配能够实现一对一、一对多和多对一的映射,并利用本体的推理能力和语义网规则描述语言对匹配结果进行检查,以保证本体映射的准确性.编程实现了本体映射算法,通过实例检验了方法的可行性和有效性.     

Generation of assembly models from kinematic constraints

In this paper, we propose a new joint-based assembly modeling method. In joint-based assembly modeling, the assembly constraints are specified on the components, but not on the geometric elements of the components. The proposed method generates assembly models from kinematic joint constraints by applying three procedures (1) to extract all feasible JMFs (Joint Mating Feature) for each mating component using information on joint constraints, (2) to derive mating alternatives for each pair of mating components after reducing the number of JMFs using the pruning criteria, and (3) to generate an assembly model by choosing the intended one from the mating alternatives for each pair of mating components and solving the JMF constraints. Since the joint constraints are expressed in terms of the relations between components rather than relations between geometric elements, the proposed method is more intuitive and natural for assembly modeling and supports modeling activities effectively by minimizing user interactions. By using joint mating constraints for assembly modeling, moreover, the kinematic behaviors of assemblies determined in the conceptual design stage can be directly applied and consistently maintained up to the detailed design stage. In the proposed method, it is also not necessary to re-input the mating constraints even when the component topology is changed.     

多边形网格模型简化算法综述

系统介绍了多边形网格模型简化算法,给出了基本术语和算法分类,在此基础上对各种算法的优缺点进行了分析,然后根据误差控制、简化速度等指标对各种算法进行了对比,并对简化算法的选择给出了相应的建议,最后对简化算法在产品异地协同设计中的应用以及深层次问题进行了探讨.     

A robust and adaptive force/position control for two cooperating robot arms under uncertainty

This paper presents a motion coordination of a two-cooperating robot arm when there are unknown system parameters and bounded input disturbances. The order of the model of the two-arm system is reduced. To control this, a force/position control scheme based on an inverse dynamics control scheme is devised. On the top of the control scheme, an adaptive control scheme to take care of parametric uncertainties, and a robust control scheme to compensate coupling forces between two arms and input disturbances are devised. The adaptive and the robust control scheme are derived based on a devised Lyapunov function. The adaptive control algorithm is practical since it does not require the feedback of the second derivative of joint angles and interacting forces. The robust control scheme guarantees that the tracking error of the leader arm and the interacting forces between two arms are confined in a certain region. Numerical examples using dual 3 degree of freedom robot arm are shown.     

OPAX: A new transfer path analysis method based on parametric load models

Since its first publication in the beginning of the 1980s, transfer path analysis (TPA) has evolved into a widely used tool for noise and vibration troubleshooting and internal load estimation, for single source and multivariate problems. One of the main bottlenecks preventing its even more widespread use in the vehicle development process is the test time needed to build the full data model, requiring not only in-operation tests but also extensive frequency response function (FRF) measurements.As a consequence, several new approaches, such as operational TPA, have appeared over the past years attempting to circumvent this limitation. These methods attract quite some attention as they only require operational data measured at the path references and target locations. However, despite being time-efficient, these methods suffer from several limitations that can lead to incorrect path contribution interpretations and wrong engineering decisions.Hence, a new TPA approach is proposed, providing a good compromise between path accuracy and measurement time. The method is referred to as OPAX as it essentially uses in-operation data complemented with a minimal set of extra tests with forced excitation. The key idea of OPAX is the use of parametric models for identifying the operational loads. This makes the method scalable, enabling the engineer to use a simple model based on a small amount of measurement data for quick troubleshooting or increase accuracy using a more complex model together with additional measurements.     

A CL surface deformation approach for constant scallop height tool path generation from triangular mesh

In this paper, we present a cutter location (CL) surface deformation approach for constant scallop height tool path generation from triangular mesh. The triangular mesh model of the stereo lithography (STL) format is offset to the CL surface and then deformed in accordance with the deformation vectors, which are computed by the slope and the curvature of the CL surface. In addition, the tool path, which is computed by slicing the deformed CL surface, is inversely deformed by those same deformation vectors to a tool path with a constant scallop height. The proposed method is implemented, and a tool path is generated and tested by simulation and by numerical control (NC) machining. The scallop height was found to be constant over the entire machined surface, demonstrating much better quality than that of mesh slicing, under the same constraints for machining time.     

变结构体参数设计的一种新方法

变结构体参数化设计一直是参数化设计中的难题,在研究现有变结构体参数化设计中的主要方法一变结构变参数设计和模块化变参数设计的基础上,提出了一种基于样条化变参数设计的新设计方法,分析比较了这三种设计方法的优缺点.研究表明,基于样条化变参数设计方法具有数据储存量小、只需生成某一类型的参数设计样板即可实现一类零件的变结构体变参数设计的优点,用VC++6.0开发环境编制了实现程序,验证了样条化变参数设计方法的可行性.     

一般编码器分析新法

利用逻辑函数“变量互斥理论”分析一般编码器电路．解决了列写真值表的困难和繁琐，使得编码器的分析更加简单、规范。     

Calculation of the unit normal vector using the cross-curve moving mask method for probe radius compensation of a freeform surface measurement

This paper proposes a cross-curve moving mask method to calculate the unit normal vector based on 5 or 9 data points of a freeform surface measurement for probe radius compensation. This is done in order to simplify the calculation and thus, produce a more efficient and time-saving process. Passing through the middle point and 4 or 8 neighboring points, two crossed curves – longitude and latitude can be constructed. The unit normal vector at the middle point can be determined by calculating the cross product of two tangent vectors along these two crossed curves. Different curve fitting methods for the curves passing through 5 or 9 data points, such as Bézier and B-spline methodologies, have been investigated. Three kinds of surfaces, namely, a spherical surface, a cosine-like surface and a shoe-shaped surface (hereby termed “shoe last”) are selected for evaluating the accuracy of the calculated unit normal vectors.     

A new 3D-CAD system for set-based parametric design

So far, there has been an extraordinary development of computer-aided tools intended to generate, present or communicate 3D models. But there has not been a comparable progress in the development of 3D-CAD systems intended to assist designers in representing and manipulating both geometric and non-geometric design information based on solid models, thus facilitating concurrent engineering (CE). Design objects continue to be produced by traditional means using the computer as little more than a drafting tool. In addition, the state-of-the-art 3D-CAD systems are incapable of encoding engineering uncertainties since only precise single-valued assignments are allowed for their modeling operations. Recently, set-based CE (SBCE) has been attracting public attention as an emerging CE paradigm. Such a set-based design (SBD) approach presents many possibilities in handling the uncertainties that are intrinsic at the early phases of design. This paper addresses a novel concept – set-based parametric design (SBPD) – which combines the SBD practice with the parametric modeling technique widely used in most 3D-CAD systems. A preference set-based design (PSD) model and a design information solid (DIS) model are proposed to incorporate the SBPD concept into the current 3D-CAD systems. Finally, a prototype system is implemented to illustrate the potential to achieve a SBPD practice.     

Development of the precision planar motor stage using a new magnet array and robust control with the parametric uncertainty model

This paper discusses the development of a new precision motor stage, where a new magnet array is proposed and a new robust controller is implemented. Several planar motor parameters, such as the air gap flux density and flux linkage, are analytically evaluated by the scalar potential, and, thus, about a 5–8% increase is observed for the proposed magnet array. A new robust controller is also proposed using the parametric uncertainty model, which can effectively control the movement during both stable and cogging positions. The performance of the robust controller is evaluated, and it shows much higher robustness and about a 200% higher position accuracy when compared with the conventional PID controller. Therefore, the developed planar motor stage is successfully designed and implemented, and, thus, proposes great potential for most of the positioning applications in the field of semiconductor equipment and machine tools.     

高效率的三角网格模型保特征简化方法

部分三角网格模型因数据量庞大而导致其不便于存储、分析和显示,本文提出了一种结合网格精细化方法的三角形折叠网格简化算法以解决此问题。首先通过3~(1/2)网格细分法确定待折叠三角形三个顶点的修正坐标,并根据修正坐标初步确定折叠点位置,然后引入折叠点的拉普拉斯坐标和原三角形法向信息来更新折叠点位置,最后由三角形折叠后该区域的体积误差和被折叠三角形的平展度共同确定折叠代价,从而使网格优先从较为平坦和特征点较少的区域开始依次进行三角形折叠简化。对多个模型进行了实验测试和数据分析,结果表明该方法能够有效精简网格数据,与3个不同类型的简化方法相比,该方法的简化效率最高,而且能有效保持原网格模型的几何特征并控制简化三角形的质量。