NURBS function closed-loop mapping trajectory planning of serial robotic plasma cladding for complex surface coatings

Wang, Zhaoqin; Shi, Yu; Wang, Xiaorong

doi:10.1007/s00170-022-09709-9

Cited by 5 publications

(2 citation statements)

References 32 publications

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“…The polynomial curve, Akima spline curve, Bezier curve, and B-spline curve are commonly used to realize the high-order continuity [11][12][13][14][15][16][17]. While the fitted toolpath is CNC-friendly, this method requires a large amount of calculation [18].…”

Section: Introductionmentioning

confidence: 99%

A Symmetrical Arrangement Strategy based Real-time Toolpath Planning Method for A 5-DoF Fully Parallel Machining Robot

Wang,

Xie,

Xie

et al. 2023

Preprint

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A 5-DoF fully parallel machining robot (PMR) with attitude coupling motion property has the potential to realize the high-efficiency and high-quality machining of complex parts with curved surfaces. From the perspective of mechanism, this kind of 5-DoF fully PMR can achieve no singularity in the workspace after optimum design, so the mobile platform can be adjusted to an arbitrary orientation directly and flexibly. In order to give full play to the above mechanical characteristics, the idea of planning orientation path in unit spherical coordinate system was proposed in our previous work, and then the orientation adjustment efficiency was improved. But the toolpath continuity and calculation simplicity remain to be solved. In light of this concern, the constraint equations to ensure the continuity between two adjacent B-splines are established, and the configuration of control points that can ensure the controllable curvature is derived. On this basis, a symmetrical arrangement strategy that generates shape limits for fitted B-splines to achieve high-order continuity is proposed, and a toolpath planning method is established accordingly. To reduce computational complexity in the feedrate scheduling stage, a linear constraints system is adopted to calculate the feedrate of each point, and the feedrate calculation and interpolation are conducted simultaneously to generate the motion trajectory in real-time. The trajectory planning of S-shaped toolpaths is conducted using the proposed method and the commercial ISG CNC kernel respectively. The comparison results show that the proposed method can effectively improve the motion efficiency, the complexity of calculation, and the fluctuation of feedrate and acceleration. This study provides a more efficient and effective trajectory planning method and is of great significance to the further development of the 5-DoF PMR.

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Section: Introductionmentioning

confidence: 99%

A Symmetrical Arrangement Strategy based Real-time Toolpath Planning Method for A 5-DoF Fully Parallel Machining Robot

Wang,

Xie,

Xie

et al. 2023

Preprint

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“…At first, it is often applied to modeling without drawings, by measuring the surface data points of the real object and fitting regular features in reverse to obtain the CAD model of the object. With the development of geological and topographic modeling and the smart city, reverse engineering has been applied to a wider range of application scenarios such as human body structure reconstruction [1], ancient cultural relics reconstruction [2], agriculture [3], manufacturing [4,5] and so on [6,7]. In the field of industrial manufacturing, the application of reverse engineering without drawings has been gradually replaced by modeling with drawings.…”

Section: Introductionmentioning

confidence: 99%

A Reverse Modeling Method Based on CAD Model Prior and Surface Modeling

Fan

Wang

et al. 2022

Machines

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Reverse engineering is an important process of real model digitization. However, the existing methods are limited by the characteristics of the modeling object; the modeling is low efficient, has poor versatility, and unstable accuracy. To complete the reverse engineering of a real workpiece with irregular deformation based on the ideal computer-aided design (CAD) model, a high-precision reverse engineering method of the workpiece based on the CAD model prior was presented. Through the registration of the ideal CAD model and the point cloud model of the real workpiece, the geometric feature position information and feature constraint information contained in the CAD model are transmitted to the modeling process, which helps to improve the accuracy and efficiency of reverse engineering. This method is applied to the reverse engineering process of the engine compartment with slight irregular deformation, the modeling accuracy reaches 0.04 mm, and the high-precision reverse engineering of the engine compartment is successfully realized.

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Multi-objective optimal trajectory planning for manipulators based on CMOSPBO

Bao,

Wu,

Chen

2024

Auton. Intell. Syst.

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Feasible, smooth, and time-jerk optimal trajectory is essential for manipulators utilized in manufacturing process. A novel technique to generate trajectories in the joint space for robotic manipulators based on quintic B-spline and constrained multi-objective student psychology based optimization (CMOSPBO) is proposed in this paper. In order to obtain the optimal trajectories, two objective functions including the total travelling time and the integral of the squared jerk along the whole trajectories are considered. The whole trajectories are interpolated by quintic B-spline and then optimized by CMOSPBO, while taking into account kinematic constraints of velocity, acceleration, and jerk. CMOSPBO mainly includes improved student psychology based optimization, archive management, and an adaptive ε-constraint handling method. Lévy flights and differential mutation are adopted to enhance the global exploration capacity of the improved SPBO. The ε value is varied with iterations and feasible solutions to prevent the premature convergence of CMOSPBO. Solution density estimation corresponding to the solution distribution in decision space and objective space is proposed to increase the diversity of solutions. The experimental results show that CMOSPBO outperforms than SQP, and NSGA-II in terms of the motion efficiency and jerk. The comparison results demonstrate the effectiveness of the proposed method to generate time-jerk optimal and jerk-continuous trajectories for manipulators.

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NURBS function closed-loop mapping trajectory planning of serial robotic plasma cladding for complex surface coatings

Cited by 5 publications

References 32 publications

A Symmetrical Arrangement Strategy based Real-time Toolpath Planning Method for A 5-DoF Fully Parallel Machining Robot

A Symmetrical Arrangement Strategy based Real-time Toolpath Planning Method for A 5-DoF Fully Parallel Machining Robot

A Reverse Modeling Method Based on CAD Model Prior and Surface Modeling

Multi-objective optimal trajectory planning for manipulators based on CMOSPBO

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