基于AC转角变化最小的五轴FDM熔覆路径的法矢量优化技术

doi:10.3901/JME.2023.06.272

机械工程学报 ›› 2023, Vol. 59 ›› Issue (6): 272-284.doi: 10.3901/JME.2023.06.272

扫码分享

基于AC转角变化最小的五轴FDM熔覆路径的法矢量优化技术

刘浩, 陈正颖, 沈楷, 熊旭辉

南京航空航天大学机电学院南京 210016

收稿日期:2022-04-16 修回日期:2022-09-20 出版日期:2023-03-20 发布日期:2023-06-03
通讯作者: 陈正颖(通信作者),女,1997年出生。主要研究方向为多轴FDM三维打印路径优化技术。E-mail:chenzhengyyy@nuaa.edu.cn
作者简介:刘浩,男,1972年出生,博士,副教授。主要研究方向为CAD/CAM、CAGD、图形图像处理。E-mail:liuhao-01@nuaa.edu.cn;沈楷,男,1997年出生。主要研究方向为多轴FDM熔覆路径规划技术;熊旭辉,男,1995年出生。主要研究方向为双机器人协调插补技术。
基金资助:
国家自然科学基金资助项目(51975281)。

Normal Vector Optimization Technology of Five-axis FDM Cladding Path Based on Minimum AC Rotation Angle Change

LIU Hao, CHEN Zhengying, SHEN Kai, XIONG Xuhui

College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

Received:2022-04-16 Revised:2022-09-20 Online:2023-03-20 Published:2023-06-03

摘要/Abstract

摘要： 五轴熔覆通过AC转台带动工件转动，使得喷嘴轴线尽可能与熔覆曲面的法矢量重合以达到最优的熔覆效果。熔覆指令通过AC转角离线计算的曲面法矢量来调整喷嘴轴线的位置。由于熔覆曲面数据噪声和外形特征的影响，熔覆路径上两个邻近点AC转角的差异可能非常大，从而使得控制系统自动插补得到的两点间路径与两点连线段的差异很大，导致熔覆过程中工件损坏或者熔覆质量降低。为了克服这一缺陷，基于遗传算法提出一种AC转角的优化方法，使得邻近点AC转角的差异尽可能小。在此基础上，进一步对差异较大的点的五个指令变量(X, Y, Z, A, C)进行线性插值，从而达到熔覆路径优化的效果。算法被集成到了自主研发的五轴FDM三维打印系统，并采用多个复杂曲面的熔覆实例验证其有效性。

关键词: AC转角, 熔覆路径, 法矢量优化, 遗传算法, 迭代

Abstract: Five-axis cladding is achieved by rotating the workpiece on an AC turntable so that the nozzle axis coincides as closely as possible with the normal vector of the surface to be clad. The nozzle axes are positioned by offline calculation of the surface normal vector based on AC rotation angle. The difference between the AC angles of two neighbouring points on the cladding path can be large due to noise and shape characteristics of the surface, which makes the path between two points automatically interpolated by the control system very different from the line connecting two points, resulting in workpiece damage or cladding quality reduction. To overcome this shortcoming, this paper proposes an optimization method of AC rotation angle based on a genetic algorithm, so that the difference of AC rotation angle between adjacent points is as small as possible. Based on this, the five command variables (X, Y, Z, A, C) of the points with large differences are further linearly interpolated to achieve path optimisation. The algorithm has been integrated into a self-developed five-axis FDM 3D printing system, and its effectiveness has been verified by several cladding examples of complex surfaces.

Key words: AC rotation angle, cladding path, normal vector optimization, genetic algorithm, iteration

中图分类号:

TG156

刘浩, 陈正颖, 沈楷, 熊旭辉. 基于AC转角变化最小的五轴FDM熔覆路径的法矢量优化技术[J]. 机械工程学报, 2023, 59(6): 272-284.

LIU Hao, CHEN Zhengying, SHEN Kai, XIONG Xuhui. Normal Vector Optimization Technology of Five-axis FDM Cladding Path Based on Minimum AC Rotation Angle Change[J]. Journal of Mechanical Engineering, 2023, 59(6): 272-284.

参考文献

[1] DAI Chengkai,WANG C,WU Chenming,et al. Support-free volume printing by multi-axis motion[J]. ACM Transactions on Graphics,2018,37(4):1-14.
[2] LIU Hao,LIU Lei,LI Dawei,et al. An approach to partition workpiece CAD model towards 5-axis support-free 3D printing[J]. The International Journal of Advanced Manufacturing Technology,2020,106(1):683-699.
[3] XU Ke,LI Yingguang,CHEN Lufeng,et al. Curved layer based process planning for multi-axis volume printing of freeform parts[J]. Computer-Aided Design,2019,114(1):51-63.
[4] 李文龙,王刚,尹周平. 闭式叶轮五轴原位检测路径规划与实验验证[J]. 航空学报,2018,39(3):244-252. LI Wenlong,WANG Gang,YIN Zhouping. 5-axis onsite inspection path generation and experimental verification of enclosed impeller[J]. Acta Aeronautica et Astronautica Sinica,2018,39(3):244-252.
[5] LI Yamin,ZENG Long,TANG Kai,et al. Orientation-point relation based inspection path planning method for 5-axis OMI system[J]. Robotics and Computer-Integrated Manufacturing,2020,61(1):101827.1-101827.17.
[6] 李贤义,林志伟. 整体叶轮叶片五轴精加工刀具路径规划算法及试验研究[J]. 机械制造,2016,54(9):52-54. LI Xianyi,LIN Zhiwei. Tool path planning algorithm and experimental study for five-axis finish machining of integral impeller blade[J]. Machinery,2016,54(9):52-54.
[7] 赵鹏,楼佩煌,刘明灯,等. 五轴联动数控加工的刀具路径优化方法研究[J]. 中国机械工程,2012,23(2):146-150. ZHAO Peng,LOU Peihuang,LIU Mingdeng,et al. Research on tool path optimization method for five-axis CNC machining[J]. China Mechanical Engineering,2012,23(2):146-150.
[8] 周康. 基于五轴机床旋转干涉的旋转路径优化算法[J]. 组合机床与自动化加工技术,2017,11(1):1-4. ZHOU Kang. A optimizational algorithm about rotation path based on rotating interference phenomenon happened in five-axis CNC machine tools[J]. Combined Machine Tool and Automatic Machining Technology,2017,11(1):1-4.
[9] CHU C,CHEN H,CHANG C. Continuity-preserving tool path generation for minimizing machining errors in five-axis CNC flank milling of ruled surfaces[J]. Journal of Manufacturing Systems,2020,55(1):171-178.
[10] HSIEH H,CHU C. Improving optimization of tool path planning in 5-axis flank milling using advanced PSO algorithms[J]. Robotics and Computer-Integrated Manufacturing,2013,29(3):3-11.
[11] DITTRICH M,UHLICH F,DENKENA B. Self-optimizing tool path generation for 5-axis machining processes[J]. CIRP Journal of Manufacturing Science and Technology,2018,24(1):49-54.
[12] TUNC L T. Smart tool path generation for 5-axis ball-end milling of sculptured surfaces using process models[J]. Robotics and Computer-Integrated Manufacturing,2019,56(1):212-221.
[13] 杨洋,周亮,李金良,等. 基于力最小的自由曲面铣削加工刀具路径优化[J]. 机床与液压,2015,43(19):123-125. YANG Yang,ZHOU Liang,LI Jinliang,et al. Optimization of tool path of freedom surfaces milling based on minimum force[J]. Machine Tool and Hydraulics,2015,43(19):123-125.
[14] 陈良骥,程俊伟,王永章. 环形刀五轴数控加工刀具路径生成算法[J]. 机械工程学报,2008,44(3):205-212. CHEN Liangji,CHENG Junwei,WANG Yongzhang. Tool path generation algorithm for five-axis NC machining with a toroidal cutter[J]. Journal of Mechanical Engineering,2008,44(3):205-212.
[15] 侯章浩,乌日开西·艾依提. 3D打印的路径规划研究综述[J]. 机床与液压,2016,44(5):179-182. HOU Zhanghao,AIYITI Wurikaixi. Review of studies on path planning of 3D printing[J]. Machine Tool and Hydraulics,2016,44(5):179-182.
[16] ISA M A,LAZOGLU I. Five-axis additive manufacturing of freeform models through buildup of transition layers[J]. Journal of Manufacturing Systems,2019,50(1): 69-80.
[17] CHALVIN M,CAMPOCASSO S,BAIZEAU T,et al. Automatic multi-axis path planning for thinwall tubing through robotized wire deposition[J]. Procedia CIRP,2019,79(1):89-94.
[18] SCHUH G,BERGWEILER G,LUKAS G,et al. Feature-based print method for multi-axis material extrusion in additive manufacturing[J]. Procedia CIRP,2020,93(1):85-89.
[19] KONTOVOURKIS O,PHOCAS M C,TRYFONOS G,et al. Multi-axis 3D printing of material reduced shell structures on a reconfigurable supporting system using topology optimization principles[J]. Procedia Manufacturing,2020,44(1):379-386.
[20] 李秀娟,廖文和,刘浩. 基于翼型反设计的遗传算法[J]. 南京航空航天大学学报,2007,39(2):263-266. LI Xiujuan,LIAO Wenhe,LIU Hao. Genetic algorithms based on airfoil inverse design[J]. Journal of Nanjing University of Aeronautics and Astronautics,2007,39(2):263-266.

基于AC转角变化最小的五轴FDM熔覆路径的法矢量优化技术

Normal Vector Optimization Technology of Five-axis FDM Cladding Path Based on Minimum AC Rotation Angle Change

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	田志强, 姜兴宇, 杨国哲, 刘伟军, 索英祁, 陈克强, 邢飞. 一种面向航天复杂构件的柔性作业车间能耗优化调度问题研究[J]. 机械工程学报, 2023, 59(8): 273-287.
[2]	苏进展, 李旭东, 尹逊民, 贾海涛, 郭芳. 人字齿轮直线型对角修形设计及成形磨原理[J]. 机械工程学报, 2023, 59(5): 121-129.
[3]	吴宏宇, 牛文栋, 张玉玲, 王树新, 阎绍泽. 水下滑翔机多点探测能耗最低路径的规划方法[J]. 机械工程学报, 2023, 59(5): 156-166.
[4]	李昆鹏, 刘腾博, 李文莉. 改进自适应遗传算法求解“货到人”拣选系统订单分批问题[J]. 机械工程学报, 2023, 59(4): 308-317.
[5]	孙树栋, 周新民, 常昇博. 含私有信息的多代理作业车间协商调度算法[J]. 机械工程学报, 2022, 58(9): 210-217.
[6]	陈晋市, 张淼淼, 毕秋实, 李永奇, 霍东阳, 齐洪阳. 面向自主作业的挖掘机多目标最优挖掘运动规划[J]. 机械工程学报, 2022, 58(7): 237-245.
[7]	牟健慧, 段培永, 高亮, 彭武良, 丛建臣. 基于混合遗传算法求解分布式流水车间逆调度问题[J]. 机械工程学报, 2022, 58(6): 295-308.
[8]	邱雨晴, 王磊, 王晓宇, 曾福明, 季宏丽, 裘进浩. 基于改进函数拟合法的冲击载荷识别研究[J]. 机械工程学报, 2022, 58(3): 157-166.
[9]	万启航, 何柏岩, 聂锐, 王国彪, 杨建坤. LNG加气站管路布局多目标优化研究[J]. 机械工程学报, 2022, 58(22): 438-449.
[10]	于泽源, 赵武, 张凯, 王洋, 于淼. 支持产品迭代设计的知识推送方法[J]. 机械工程学报, 2022, 58(18): 292-302.
[11]	丁军, 古愉川, 黄霞, 宋鹍, 路世青, 王路生. 基于改进遗传算法优化人工神经网络的304不锈钢流变应力预测准确性研究[J]. 机械工程学报, 2022, 58(10): 78-86.
[12]	程真英, 江文姝, 方旭, 李瑞君, 黄强先. 基于遗传算法和Elman神经网络的接触式探头动态特性补偿[J]. 机械工程学报, 2022, 58(10): 24-30.
[13]	刘茜, 程靖, 梁建勋. 混合碰撞建模方法及其试验验证[J]. 机械工程学报, 2022, 58(1): 116-123.
[14]	董昊轩, 殷国栋, 庄伟超, 陈浩, 周毅晨, 汪?. 基于迭代动态规划的网联电动汽车经济性巡航车速优化[J]. 机械工程学报, 2021, 57(6): 121-130.
[15]	吕海利, 朱家涛, 王正国, 吴姝. 装配作业车间的JIT调度研究[J]. 机械工程学报, 2021, 57(5): 157-165.