面向多轮廓的机器人加工路径优化研究

doi:10.16182/j.issn1004731x.joss.201702016

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (2): 355-359.doi: 10.16182/j.issn1004731x.joss.201702016

面向多轮廓的机器人加工路径优化研究

王宪伦, 喻洋, 崔玉霞

青岛科技大学机电工程学院,青岛 266061

收稿日期:2015-05-22 修回日期:2015-08-18 出版日期:2017-02-08 发布日期:2020-06-01
作者简介:王宪伦(1978-),男,山东济宁,博士,副教授,研究方向为机器人技术、智能控制;喻洋(1988-),男,山东聊城,硕士生,研究方向为机器人技术、虚拟化技术。
基金资助:
国家自然科学基金(51105213),青岛市科技计划基础研究项目(13-1-4-208-jch)

Research on Robot Processing Path Optimization for Multi-contour

Wang Xianlun, Yu Yang, Cui Yuxia

College of Electromechanical Engineering, Qingdao University of Science & Technology, Qingdao 266061, China

Received:2015-05-22 Revised:2015-08-18 Online:2017-02-08 Published:2020-06-01

摘要/Abstract

摘要： 针对多轮廓零件机器人加工的路径优化问题,提出了一种基于改进遗传算法和最小外接三角形法的机器人加工路径规划新方法。采用基于改良圈的遗传算法优化任意选择的走刀路径,得到轮廓加工序列,而最小外接三角形法对该轮廓序列动态寻找各轮廓入刀节点,构建走刀路径,经过反复迭代,得到了一条优化的走刀路径。仿真结果表明,所提算法可有效构建机器人走刀路径,缩短空行程。

关键词: 机器人加工, 多轮廓, 路径优化, 改进遗传算法, 最小外接三角形法

Abstract: The problem of robot processing path optimization for multi-contour parts was studied, and a new path planning algorithm based on the improved genetic algorithm and the minimum external triangle method was proposed. The genetic algorithm based on modified circle was applied to optimize the cutting path which selected arbitrarily, and an optimal contour sequence was found. The minimum external triangle method was used to seek the node as the tool entrance on each adjacent contour dynamically, and an optimal cutting path was constructed through several iterations in this way. Simulation results show that the cutting path for robot can be constructed effectively and the non-cutting path can be shortened by using the proposed algorithm.

Key words: robot processing, multi-contour, path optimization, the improved genetic algorithm, the minimum external triangle method

中图分类号:

TP391.9

王宪伦, 喻洋, 崔玉霞. 面向多轮廓的机器人加工路径优化研究[J]. 系统仿真学报, 2017, 29(2): 355-359.

Wang Xianlun, Yu Yang, Cui Yuxia. Research on Robot Processing Path Optimization for Multi-contour[J]. Journal of System Simulation, 2017, 29(2): 355-359.

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面向多轮廓的机器人加工路径优化研究

Research on Robot Processing Path Optimization for Multi-contour

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