VTK-based robot free-form surface workpiece polishing offline programming method

Abstract

The invention discloses a VTK-based robot free-form surface workpiece polishing offline programming method. The method comprises the following steps of introducing a three-dimensional model of a workpiece grinding system; determining an intersecting curve of a curved surface to be polished; extracting a position and a posture of a polished planning node; polishing track planning; carrying out robot motion simulation; and generating a robot motion program code. In the invention, a visual development library VTK technology is integrated into a robot offline programming system of VC++ platform development based on Visual Studio. A VTK-based free-form surface polishing path node position and attitude extraction method is provided, and a polishing track can be generated only through mouse picking operation without relying on third-party CAD software. Without a tedious external data calculating and introduction process, man-machine interactivity is good and a required polishing robot programcan be rapidly generated.

Description

technical field [0001] The invention belongs to the technical field of industrial robot workpiece grinding, in particular to a VTK-based off-line programming method for grinding free-form surface workpieces of robots. Background technique [0002] In the field of industrial grinding, due to product quality and process requirements, the surface of a large number of workpieces such as steam turbine blades, sanitary ware, titanium alloy stylistic appliances, etc. often presents free-form surfaces with irregular bending and torsion changes. In order to ensure surface quality and dimensional accuracy, the workpiece The surface grinding process puts forward very high requirements, so that neither manual grinding nor special mechanical methods can meet the needs. The working environment of manual grinding is harsh and labor-intensive, which seriously threatens the physical and mental health of personnel, and it is difficult to guarantee the consistency of surface processing accurac...

AI Technical Summary

Problems solved by technology

Mao Lina and others published the article "Off-line Programming and Simulation System Design of Clamping Workpiece Grinding Robot" on Machine Tools and Hydraulics, 2017, 45(15): 60-63,112, which was based on MFC framework and OpenGL graphics library interface to build a robot offline programming simulation system. The robot grinding trajectory can be generated by layering and slicing based on the workpiece model STL file, but the disadvantage is that it does not yet support other workpiece model formats other than STL

[0008] To sum up, the first type of method has insufficient versatility, and the second type of method has inherent defects of poor human-computer interaction and insufficient flexibility of independent development

The third type of method adopts an open interactive simulation environment to realize independent research and development, which effectively overcomes the shortcomings of the first two types of methods. The model format is single, the grinding point data depends on external import, and the selection method of the grinding point spline curve is not clear, etc. Technical problems

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