并联机器人曲面汉字雕刻刀路规划算法研究  

Research on tool path real time planning algorithm of Chinese characters engraving on curved surface for parallel robot

作　　者：陈琦[1] 张世辉[1] 孔令富[1] 

机构地区：[1]燕山大学信息科学与工程学院,河北秦皇岛066004

出　　处：《计算机工程与设计》2007年第7期1607-1609,共3页Computer Engineering and Design

基　　金：河北省自然科学基金项目(F2004000252);燕山大学博士基金项目(B170)。

摘　　要：解决了并联机器人在空间曲面上雕刻汉字时所遇到的相关问题,包括平面刀路向曲面刀路的映射方法、曲线插补计算及刀具姿态实时规划算法等,给出了算例并以6-PUS并联机器人为模型进行了实验,实验结果验证了所提方法的有效性和可行性,这些方法理论上适用于任意种类的文字及空间曲面,也适用于雕刻之外的其它加工领域。Related problems to engraving Chinese characters on space curved surface for parallel robot is resolved. It includes tool path mapping method fi＇om plane to curved surface, curve interpolation computing and cutter-orientation real time planning algorithm etc, and then the computation example is given and corresponding simulation experiments based on 6-PUS parallel robot are done. The experimental results validate the validity and feasibility of the proposed method, these methods are suiting to any kind of characters and space curved surface in theory, they also suit to other machining fields besides engraving.

关 键 词：并联机器人 汉字图像 雕刻 刀路规划 刀具姿态 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TP24[自动化与计算机技术—计算机科学与技术]