Path Planning Of Polishing Large-scale Free-form Surface By Miniature Robot

In company with figure and modern control theory equal phase correlation technique instant development, take numerical control machine with on flexibility process increasingly perfection behalf, free-form of basic realize stamp cambered automation shape process, but shape making after surface still require transit smooth, brightening and more manufacturing procedure, conventional cooked mode, free-form of large-scale surface must adopt large-scale finishing equipment making, as against large-scale finishing equipment cost costliness, coexist range of work and precision, rigidity,movement rapidity and stability and more a good many engineering roadblock. The goal of the free-form of these topic advance fire-new technology clue take achieve arm with minitype to large-scale surface proceed final finish, avail free-form surface self-align minuteness finishing robot realize large-scale free-form cambered automatism finishing final finish of. Path planning technology toward miniature robot finishing large-scale free-form surface has important sense. Path planning technique'actor bad, the differ and process period differ with energy consumption 'of the both direct influence surface degree of coverage and repeat coverage rate. so ,deteriorate secure insure the at the same time expend hour energy least of the both path planning technology at insure in favor of degree of coverage and on the small side repetition rate to these subject study have got of vital importance sense.This article mostly research minuteness finishing robot making large-scale free-form surface, miniature robot path planning technology and miniature robot ad hoc organic meet dam turn problem.Present subbregion divide technique mostly adopt such divide approach, seefig. 1 .By reason of each subbregion of height inequality, the height Hi not exactly finishing head working width 2r of integral multiple of the in addition each subbregion, fill in this way with acquire subbregion with repeat coverage, both to miniature robot working efficiency and curved die tool finished surface have got subsidence, see fig. 2.The consider of the proceed from to the question, if each subbregion of height hi all were 2r of integral multiple, there can be no such problem, so we improve on the subbregion divide technique of the Fig. 1.The heading stand for primary motion 'heading erect co-ordinate for of the see fig.,we used X-axis. both that of used Y_maxand Y_min express whole region in co-ordinate suffer ordinate maxima and _minima.We used A Y = Y_max-i.2r>Y_min thereinto i = (1 ,2,3n) do with wholly region,divide into n+1 piece region,2r is finishing head'working width. The _maximal ordinate point and _minimal ordinate point of the both usedAm ax ( XA _max,YA_max),A_min(XA_min,YA_min),B_max(XB_max,YB_max),B_min(XB_min,YB_min) each and every express impediment A and B. While Ym ax - i.2r>YA _max>Y_max-(i+1).2r,Choose Y = Y_max -i.2r the beeline for subbregion 'divide threshold of the thereinto passing A1 ( XA _max,Y_max? i?2r) to bilateral boundary, and X = XA_max thereinto Y∈(Y A _max ,Y_max?i?2r) is the divide threshold of subbregion. While Ym ax -i.2r>YA _min>Y_max?(i+1)?2r,Choose Y = Y_max -(i+1).2r the beeline for subbregion 'divide threshold of the thereinto passing A2 ( XA _min,Y_max- (i+1).2r) to bilateral boundary, and X = XA_min thereinto Y∈(Y _max -(i+1)2r,YA_min) is the divide threshold of subbregion. The bilateral boundary divide after of the same way to dam B,Fig. 3 divide into seven subbregions, show in this way in each subbregion trodden making, with avoid face repeat ergodic problem.The concatenate policy tell staple gradient heading priority method, score heading priority method and more apart of the subbregion, touch concatenate policy is act as wholly region, divide after, each subbregion 'concatenate order just ascertain up. We used digraph node stand for each subbregion, adjacent subbregion used directed arc joint. It is each subbregion maximum ordinate by large to small heading to that of directed arc heading, see fig. 4.Both each node likely to presence two classes directed arc: incidentin arc and incidentout arc, see fig. 4 , node 1 just have only two incidentout arc,node adrenic acid just have only two incidentin arc. The node launch to has two incidentin arc 'node finish upon of the each rang loop is from has two incidentout arc. specific policy is:(1) the heading is from priority area coverage point to next area coverage of the directed arc. Such as 1-2-4-8-10. (2) See fig. 4, in one rang loop, each and every used M1,M2…M10 stand for severalty node. by Fig. it is observed that from node M1 till node M10 ,have got two strip directed arc joint. Namely M1 take turns passing M2,M5,M8 to M10 and M1 take turns passing M3,M6,M9 to M10 . Select precedence cover Left Side directed arc tie node in for, act as Left Side directed arc severalty node cover after,again take turns cover starboard directed arc tie point in, and then cover node M10 .By reason of miniature robot left wheel and right wheel is separate drive, so miniature robot realizable two wheel line of centres , the turn of the any point as center of rotation,such as both left wheel and right wheel velocity size equality and heading reverse. Then miniature robot just reel two wheel line of centres' midpoint turn. As per an indication of this type of behavior, first of all we take two wheel line of centers the midpoint M turn to anther strip finishing head cover local midpoint M1 . then take M1 for spin gyrate,finish robot turn with round.As per upper way, we select take miniature robot starboard wheel centre as spin gyrate round for. See fig. 5, miniature robot right wheel immobility,let left driving wheel take definite velocity V backwards away,act as point M spin to L2 and L3 middle point M1 round,the space equality of the m1 to L2 and L3 ,and then take m1 as spin gyrate finish miniature robot turn with round, see fig. 6.See fig. 6 left Fig. way turn just would bring Major region cannot making forth, Fig. 6 right Fig. just escapable such matter, show but to Left Side threshold sameness would face such problem, so miniature robot must take M1 for spin gyrate 1800 before arrival of Left Side threshold,like this to-and-fro cover wholly subbregion。Used figure emulation subbregion divide up and the concatenate order of the each subbregion. Demonstration this article set feasibility and superiority of algorithm.This article acquisitive research conclusion:1. Elicit subbregion divide way is lead each subbregion height summation least way to from minimum capacity deteriorate theory.2. Touch present subbregion divide way up,set subbregion interior trodden making bring 'repetitive making along at rest.3. Compact description each subbregion concatenate policy for the used digraph farad, whether is repeat coverage rate,or hour gaugeable deteriorate, or control feasibility all attainability compare famous result.4. according to miniature robot design feature (namely miniature robot width far larger than finishing head working width)set fit robot turn policy for.5. through the medium of emulation experimental verification aforesaid conclusion to these topic 'feasibility and superiority.