机器人针刺成型异形预制体的路径规划  

Path planning for robot needle⁃punching forming of special⁃shaped preforms

作　　者：邵建娜 张雅秀 曾欣怡 蒋云 李嘉禄[2] SHAO Jianna;ZHANG Yaxiu;ZENG Xinyi;JIANG Yun;LI Jialu(Jiangnan University,School of Textile Science and Engineering,Wuxi214122,China;Tianjin University of Technology,Tianjing300387,China)

机构地区：[1]江南大学纺织科学与工程学院,无锡214122 [2]天津工业大学,天津300387

出　　处：《固体火箭技术》2023年第4期600-610,共11页Journal of Solid Rocket Technology

摘　　要：针对机器人针刺成型异形预制体路径规划难题,提出了一种基于切片法的机器人针刺路径规划方法。将多个平行切平面与预制体STL(STereoLithography,立体光刻)模型文件中包含的三角面进行求交运算,利用交点冗余信息建立交点之间的拓扑关系,获得了有序的针刺路径型值点;采用NURBS(Non-Uniform Rational B-Splines,非均匀有理B样条)方法将针刺路径型值点进行拟合,从而实现了异形预制体CAD模型到机器人针刺路径的自动生成。基于四阶Runge-Kutta(龙格-库塔法)预估校正法进行插补参数计算以得到针刺点位置信息,保证了插补效率和插补精度;以相邻路径型值点的方向向量和相邻路径型值点所在三角面的法向量建立直角坐标系,结合机器人RPY姿态描述方式,得到了机器人针刺点的姿态信息。最后,通过仿真和实物实验验证了所提出路径规划方法的正确性,为异形预制体机器人针刺成型路径规划提供了一种简便有效的方法。To solve path planning problem for robot needle⁃punching forming of special⁃shaped preforms,a robot needle⁃punc⁃hing path planning method based on slice method was proposed.The intersection of multiple parallel tangent planes with triangular patches contained in the STL model file was performed,and the topological relationship between the intersections was established u⁃sing redundant information of the intersections to obtain ordered needle⁃punching path type value points;The NURBS method was used to fit the needle⁃punching path type points,thereby realizing the automatic generation of the special⁃shaped preform CAD model to the robot needle path.Interpolation parameters are calculated based on the fourth order Runge Kutta predictive correction method to obtain needle⁃punching position information,ensuring interpolation efficiency and accuracy;Using the direction vector of the adja⁃cent path type value point and the normal vector of the triangular surface where the adjacent path type value point was located,a rec⁃tangular coordinate system was established,and combining with the robot RPY posture description method,the posture information of the robot needle point was obtained.Finally,the correctness of the proposed path planning method can be verified by simulation ex⁃periment,which provides a simple and effective method for needle⁃punching forming path planning of special⁃shaped preform robot.

关 键 词：机器人 针刺 异形预制体 路径规划 

分 类 号：V258[一般工业技术—材料科学与工程] TP242.2[航空宇航科学与技术—航空宇航制造工程]