Facing The Factors Of Robot Surfacing Trajectory Planning

RP(Rapid Prototyping) is a new processing technology developed since 80s last century which is integrated of many kinds of advanced technology.Three-dimension build-up welding technology with the robot is a newly rised type of rapid prototyping technology,which combines Computer-Aided Design and robotics,at the same time this could form the parts directly.This paper focuses on the slicing and path planning technologies of the robot Three-dimension build-up welding .The article discusses the present slicing method firstly.For the purpose of improving defect of the STL-based slicing approach, a secondary development of UG-based adaptive slicing method is adopted which brings an effective solution to the problems of data redundancy,topological information deficiency and the distortion of small features due to the fixed layer.A new scanning algorithm is designed after the analysis of the advantages and disadvantages of the present scanning method. this method deals the entities of different characteristics with different scanning strategy:the internal and external symmetric structures using the simple bias scanning algorithm and the complex structures using the bias scanning first and then using the sub-regional compound scanning mode which successfully improves the low quality of parts and avoids many start stop operations of the welding torch.An off-line program is designed to generate the running codes for the robot and an OpenGL based robot simulation program is programmed to show the running states of the robot visually.The slicing and path planning algorithm are examined by the simulation programme and it proves that the algorithm used in this paper are correct and efficient.