基于双B样条的手机点胶轨迹插补算法研究  

Research on the interpolation algorithm of mobile phonedispensing trajectory based on double B-spline

作　　者：徐建明[1] 李想 XU Jianming;LI Xiang(College of Information Engineering,Zhejiang University of Technology,Hangzhou 310023,China)

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《浙江工业大学学报》2022年第4期355-364,共10页Journal of Zhejiang University of Technology

基　　金：国家自然科学基金-浙江省自然科学基金联合基金两化融合项目(U1709213) 浙江工业大学教学改革项目(JG201918)的资助

摘　　要：针对手机边框点胶加工对均匀点胶、点胶方向垂直于点胶曲面的需求,研究了基于五轴点胶机的双B样条插补算法。首先,使用两条B样条曲线规划针尖点和针轴点的轨迹;其次,使用预估校正法计算针尖点轨迹插补参数,根据同步关系计算针轴点轨迹插补参数,进而计算两条插补轨迹;再次,根据两条插补轨迹计算非过渡区间的旋转轴转角,使用五次多项式计算过渡区间内的旋转轴转角;最后,根据旋转轴转角和针尖点轨迹计算平动轴位移量。仿真结果显示:笔者算法的迭代次数较少,速度波动率较小。实验结果表明:笔者算法的速度波动率、轨迹误差和点胶针轴矢量的偏差相较于PVT(位置-速度-时间)插补算法较小,笔者算法的工程有效性得到验证。Aiming at the requirement of uniform dispensing and the dispensing direction perpendicular to the dispensing surface in the dispensing process of the mobile phone frame,the double B-spline interpolation algorithm based on the five-axis dispensing machine is studied.First,two B-spline curves are used to plan the trajectory of the needle tip point and the needle axis point.Secondly,the predictive correction method is used to calculate the interpolation parameter of needle point trajectory,and the needle axis point trajectory interpolation parameter is calculated according to the synchronization relationship,and then two interpolation trajectories are calculated.Thirdly,the rotation angle of the rotation axis in the non-transition interval is calculated according to the two interpolation trajectories,and the rotation axis rotation angle in the transition interval is calculated by using the quintic polynomial.Finally,the displacement of the translation axis is calculated according to the rotation angle of the rotation axis and the needle point trajectory.The simulation results show that the algorithm proposed in this paper has fewer iterations and less velocity volatility.The experimental results show that the velocity fluctuation rate,trajectory error,and deviation of the dispensing needle axis vector of the proposed algorithm are smaller than those of the PVT(position-velocity-time)interpolation algorithm.Thus,the engineering validity of the proposed algorithm is verified.

关 键 词：点胶 B样条 插补 五轴点胶机 预估校正法 

分 类 号：TP278[自动化与计算机技术—检测技术与自动化装置]