Surface Layering And Central Axis Path Planning Algorithm For Robotic Additive Manufacturing

Additive manufacturing technology is a near-net forming manufacturing technology that manufactures solid parts by layer-by-layer welding of materials according to the three-dimensional CAD layered section model of the parts.The basic idea of additive manufacturing is to layer the three-dimensional objects.In the additive manufacturing process,when the conventional plane stratification is used to pile the parts with large curvature,the surface step effect will occur;the number of layers is large,the stacking efficiency is low;the arcing point and the arc-extinguishing point are more.Using surface stratification for the above problems can significantly solve these problems.When the surface is layered,the surface is formed well and the number of layers is significantly reduced.However,the surface layering algorithm is more complicated than the plane layering algorithm.There are many problems,such as the expression of the surface,the surface translates along the normal direction,and the surface may shrink and the model does not intersect,or the surface is discontinuous.In this paper,a surface layering algorithm based on the translation control point idea is proposed for the STL model,which solves the above problems better and finally realizes the surface layering.First,a set of relatively complete surface layering software is written,including preprocessing of data,selection of outer surface,extension of outer surface,translation of outer surface along normal direction,and calculation of intersecting contour lines to achieve surface layering.Furthermore,two kinds of central axis path planning algorithms are studied: an accurate analytical algorithm for convex polygons,and a "combustion algorithm" for numerical solutions of relatively complex concave polygons or complex graphics.Through the orthogonal test method,the effects of different parameters,namely cladding current,cladding voltage,cladding speed,cladding curvature on the shape of the actual curve cladding,and the morphology of the deposited layer on the morphology of the deposited layer were studied.Influence mechanism and optimize process parameters.The primary and secondary factors of the factors affecting the curve cladding were found to be:cladding voltage > cladding current > cladding speed.Investigating the changes of these four factors at the three levels to obtain the best forming quality is: cladding curvature 60 mm,selection of cladding current is 150 A,cladding voltage is 22 V,cladding speed is 6mm Condition,in this case the curve cladding has the best forming quality.The cladding thin-walled fan-shaped structure was selected,and the abovementioned curved layering software and path planning software were used to combine the previous curve cladding process parameters to verify the effectiveness of the algorithm.