一种基于机器人的曲面测量、建模和加工方法

提出了一种基于机器人的卷曲类自由曲面的测最、建模和加T路径生成方法.本文采用结构光测量方法设计了一种基于机器人的自动测量系统,实现了自由曲面零件的表面测量.根据测量数据和零件的形状特点提出了一种新的建模方法,该方法首先采用提出的截面法直接提取点云的边界,然后利用射线与局部拟合曲面的交点获得有序的精整数据点,实现了NURBS曲面的精确拟合.最后,对重构的自由曲面采用等参数线法生成了加工路径.实际的算例和应用验证了本文方法的有效性和精确性.

Method of measurement, modeling and grinding path generation for freeform surface based on robot

A new method of coordinate measurement, geometric modeling and grinding path generation for wrap around free-form surface based on robot is presented. An automatic measurement system based on robot is designed by employing structured light in the paper. Consequently, surface measurement of free-form surface is achieved. According to the measurement data and figure characteristic of the part, a new surface modeling method is proposed. At first the boundary of point clouds is extracted by means of sectional plane, then the ordered extractive points are obtained from the points of intersection between the radial lines and local fitting surface, an accurate and smooth fitting surface is finally implemented. At last, the grinding path is generated for the reconstructed surface by using isoparametric curve. The experiment and application example demonstrate the feasibility and precision of the proposed method.