基于离散点云构造径向线的螺旋加工轨迹规划方法  

Spiral Machining Trajectory Planning Method Based on Discrete Point Cloud Construction of Radial Lines

作　　者：吴江盛 柴兴亮 薄其乐 刘海波[1] 王永青[1] WU Jiangsheng;CHAI Xingliang;BO Qile;LIU Haibo;WANG Yongqing(School of Mechanical Engineering,Dalian University of Technology,Dalian,Liaoning,116000)

机构地区：[1]大连理工大学机械工程学院,大连116000

出　　处：《中国机械工程》2025年第4期697-702,714,共7页China Mechanical Engineering

基　　金：国家重点研发计划(2022YFB3404704)。

摘　　要：针对基于离散点云难以直接生成高效准确的连续光滑刀位轨迹的问题,提出了在点云上直接构造径向线的方法,通过径向线插值生成螺旋加工轨迹。对于径向线构造,提出了基于特征描述子边界识别方法,提取边界点作为径向线两端点;以点云上两端点之间最优离散测地线作为径向线点集,提出了离散测地线曲率最小化问题,并通过牛顿迭代法求解该问题。在径向线点集的基础上,采用B样条曲线拟合并根据残留高度进行了重采样;提出了径向线插值算法,生成了等残留高度的螺旋加工轨迹。最后,通过实例验证了该方法的有效性,可通过点云数据直接生成螺旋刀位轨迹。Aiming at the problems that it was difficult to directly generate efficient and accurate continuous smooth tool path trajectories based on discrete point clouds,a method to directly construct radial lines on point cloud and generate spiral machining trajectories through radial line interpolation was proposed herein.For the construction of radial lines,a boundary recognition method was proposed based on feature descriptors to extract boundary points as two end points of the radial lines.Taking the optimal discrete geodesics between two end points on the point cloud as the radial point set,the curvature minimization problems of discrete geodesics were proposed and solved by Newton iteration method.The B-spline curves were used to fit and resampling according to the residual height based on the radial point sets.The radial line interpolation algorithm was proposed to generate the spiral machining trajectory with equal residual height.Finally,an example was given to demonstrate the spiral machining trajectories directly generated by the point cloud data,which fully verified the effectiveness of the proposed method.

关 键 词：离散点云 边界点提取 最优测地线路径 径向线 螺旋刀位轨迹 

分 类 号：V462[航空宇航科学与技术—航空宇航制造工程] TH164[机械工程—机械制造及自动化]