关键词: 工业机器人, 有向Voronoi区域划分, 自由曲面加工, 路径规划, 加工振动抑制, 空间环切路径

Abstract: To solve the problem of frequent large swing of tool axis in path planning of free-form surfaces,a Directed Voronoi Tessellation method (DVT) was proposed for dividing the surface.By connecting the outside and the inside of divided surface,the whole tool path which could really be machined was got.Compared with the control of UG with different path planning,the mean and cumulative variation of axis vector decreased around 30% and the variance was reduced by nearly 60%,which had verified the change of the tool axis vector of the proposed method was less than that of the traditional machining surface,and could reduce the mechanical vibration and impact in the process.Thus the stability of the shaft attitude was conducive to improving the processing accuracy and reduce the impact on the life of the processing equipment.The milling experiment was completed with the industrial robots,and the results further confirmed the feasibility and effectiveness of the method.

Key words: industrial robots, directed Voronoi tessellation, free-form surface machining, path planning, machining vibration suppression, spatial tangent path