Uniform Coverage Tool Path Generation for Robotic Surface Finishing of Curved Surfaces

Wen, Yalun; Jaeger, D.; Pagilla, Prabhakar R.

doi:10.1109/lra.2022.3152695

Cited by 17 publications

(10 citation statements)

References 30 publications

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“…Another possible approach is to perform some iterative methods 16,[23][24][25][26] to generate adaptive paths with restrictions such as minimizing the intersections, twists, and overlaps. However, these methods can be potentially suitable for small-size surfaces coverage planning but not for large complex surfaces, since the high curvature and edge effects are not fully captured with these methods.…”

Section: Cpp For Complex 3d Surfacesmentioning

confidence: 99%

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Multiple chromosomes particle swarm optimization-based coverage path planning for complex surfaces spray painting

Gao,

2024

International Journal of Advanced Robotic Systems

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Coverage path planning for complex three-dimensional surfaces spray painting is one of the challenging problems in robotics. In this article, we propose a multiple chromosomes particle swarm optimization approach to address the coverage path planning problem for complex three-dimensional surfaces spray painting. Firstly, a layered segmentation method, which is composed of three-dimensional hole identification and region partition, is proposed to divide the complex surface into multiple simple regions with little curvature change and no holes. Secondly, a zigzag path is determined in each region by considering the practical aspects for spray painting. Thirdly, by taking short distance, few turns and high coverage rate into account, a multiple chromosomes particle swarm optimization algorithm is presented to connect the zigzag paths of the regions. Experimental tests are carried out on a complex surface, and the results validate the effectiveness of the proposed approach.

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Section: Cpp For Complex 3d Surfacesmentioning

confidence: 99%

“…It has been shown that the optimal spray path tends to be a zigzag spray path. 14,[23][24][25] Therefore, this article adopts the zigzag path as the movement pattern in each region.…”

Section: Path Planning For Each Regionmentioning

confidence: 99%

Multiple chromosomes particle swarm optimization-based coverage path planning for complex surfaces spray painting

Gao,

2024

International Journal of Advanced Robotic Systems

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“…Using these two b-spline curves, a tool path planning algorithm for robotic belt grinding of complex parts based on surface division, iterative correction interference and grinding position smoothing is further proposed, as shown in Figure 4. Wen et al (2022) proposed a tool path planning strategy, which can provide a completely uniform coverage of free-form surfaces or surfaces with minimal overlap and provide an efficient path generation method based on dichotomy. The spacing between adjacent path segments is determined by the contact area, which is related to the position and changes along the surface according to its principal curvature, as shown in Figure 5.…”

Section: Jimsementioning

confidence: 99%

The robot grinding and polishing of additive aviation titanium alloy blades: a review

Xiao,

Zhang,

et al. 2024

JIMSE

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PurposeThe purpose of this review is to comprehensively consider the material properties and processing of additive titanium alloy and provide a new perspective for the robotic grinding and polishing of additive titanium alloy blades to ensure the surface integrity and machining accuracy of the blades.Design/methodology/approachAt present, robot grinding and polishing are mainstream processing methods in blade automatic processing. This review systematically summarizes the processing characteristics and processing methods of additive manufacturing (AM) titanium alloy blades. On the one hand, the unique manufacturing process and thermal effect of AM have created the unique processing characteristics of additive titanium alloy blades. On the other hand, the robot grinding and polishing process needs to incorporate the material removal model into the traditional processing flow according to the processing characteristics of the additive titanium alloy.FindingsRobot belt grinding can solve the processing problem of additive titanium alloy blades. The complex surface of the blade generates a robot grinding trajectory through trajectory planning. The trajectory planning of the robot profoundly affects the machining accuracy and surface quality of the blade. Subsequent research is needed to solve the problems of high machining accuracy of blade profiles, complex surface material removal models and uneven distribution of blade machining allowance. In the process parameters of the robot, the grinding parameters, trajectory planning and error compensation affect the surface quality of the blade through the material removal method, grinding force and grinding temperature. The machining accuracy of the blade surface is affected by robot vibration and stiffness.Originality/valueThis review systematically summarizes the processing characteristics and processing methods of aviation titanium alloy blades manufactured by AM. Combined with the material properties of additive titanium alloy, it provides a new idea for robot grinding and polishing of aviation titanium alloy blades manufactured by AM.

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“…The authors in [32] involve differential surface curve analysis for tool path and Cartesian trajectory planning. Surface curvature characteristics may also be considered for tool path generation [33,34] and region partitioning [35,36] of complex surfaces.…”

Section: Introductionmentioning

confidence: 99%

“…It represents the main contribution since the associated Jacobian matrix is homogeneous in units, and the task space is virtually reduced to the translational subspace. Furthermore, in comparison with [32][33][34][35][36], where workpiece surface geometry is involved in the path/trajectory planning in Cartesian space, we extend its consideration to the robot joint space via the manipulability concept to directly address the joints' velocity limits. We also show that the associated manipulability ellipsoid is reduced in dimension, such that we can perform velocity planning solely within the translational operational space projected on the two-dimensional surface tangent plane.…”

Section: Introductionmentioning

confidence: 99%

Toward Optimal Robot Machining Considering the Workpiece Surface Geometry in a Task-Oriented Approach

Hace

2024

Mathematics

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Robot workpiece machining is interesting in industry as it offers some advantages, such as higher flexibility in comparison with the conventional approach based on CNC technology. However, in recent years, we have been facing a strong progressive shift to custom-based manufacturing and low-volume/high-mix production, which require a novel approach to automation via the employment of collaborative robotics. However, collaborative robots feature only limited motion capability to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the workpiece surface constraint in the robot kinematic analysis, which enables an evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot’s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

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Uniform Coverage Tool Path Generation for Robotic Surface Finishing of Curved Surfaces

Cited by 17 publications

References 30 publications

Multiple chromosomes particle swarm optimization-based coverage path planning for complex surfaces spray painting

Multiple chromosomes particle swarm optimization-based coverage path planning for complex surfaces spray painting

The robot grinding and polishing of additive aviation titanium alloy blades: a review

Toward Optimal Robot Machining Considering the Workpiece Surface Geometry in a Task-Oriented Approach

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