激光熔覆再制造复杂轴类零件的轨迹规划

对于复杂轴类零件的激光熔覆再制造，实现轨迹规划及自动编程较为困难。针对这种情况，结合逆向工程与轴类零件再制造的特点，完成了基于非均匀有理B样条（NURBS）曲线的复杂轴类零件表面逆向。提出了面向激光熔覆再制造的NURBS曲线等弧长插补方法并设计了一种基于Romberg求积公式的牛顿迭代数值算法。开发了6自由度关节机器人的轨迹规划及辅助编程程序。对实验零件熔覆层金相组织、厚度、显微硬度进行了测试和分析。结果表明，熔覆层与基体形成冶金结合；熔覆层厚度均匀，在光束最大倾斜至水平夹角42时，熔覆层厚度比最厚处减少0。034 mm；显微硬度明显高于基材。证明了这是一种可靠的激光熔覆再制造方法。

Trajectory planning of laser cladding remanufacturing for complex shaft shaped part

It is difficult to achieve trajectory planning and automatic programming for the remanufacturing of complex shaft shaped part. Aiming at this case, reverse measurement was completed based on non uniform rational B-spline (NURBS) curve for surface of part. A constant arc increment interpolation method was presented for laser cladding remanufacturing and the Newton iteration algorithm based on Romberg integral method was proposed and designed. A program based on 6 DOF robot was developed for trajectory planning and computer aided programming. The morphology, microstructure, thickness and micro-hardness of layer were tested and analyzed. It is observed that, the cladding layer and substrate have a good metallurgical bond, layer thickness is uniform, when the max laser beam tilt angle from the horizontal is 42, cladding thickness decreases 0.034 mm compared with maximum thickness, the micro-hardness is significantly higher than the substrate. Experimental results show the effectiveness of the method proposed.