Purpose

This paper aims to provide a posture generation method of robot deposition paths based on intersection topology, which is helpful to contribute to improving the flexibility and deposition capability of the deposition system.

Design/methodology/approach

Via the geometry information and normal vector information of the stereolithography (STL) model, the intersecting edge information is generated and the topological relationship of the model is established. Through the removal of redundant points for the STL model and the sort of robot path points, the position information of robot path points is obtained. According to the geometric relationship between the normal vector information of the STL model and the robot deposition path points, combining with the robot posture representation method of roll-pitch-yaw angles, the posture information of path points is achieved. Then, the generation from CAD model of parts to robot paths for laser melting is realized, and the experimental verification is carried out.

Findings

For simple parts, the laser melting process can be completed without the posture information of deposition paths. However, in the melting process of a turbine blade, there are some accumulated burls on the sidewall. The posture generation method of robot deposition paths based on the intersection topology can solve this problem. The light spot of deposition points irradiates on the surface of the forming part, and the forming process can proceed smoothly.

Practical implications

As a motion platform in laser melting deposition (LMD), the application of the multi-joint robot can improve the flexibility and deposition capability of the deposition system, as well as promote the LMD application for individuation manufacturing, parts repair and green remanufacturing.

Originality/value

The posture is essential for robot deposition paths. This paper first proposes a posture generation method of deposition paths for LMD to improve the flexibility and deposition capability of LMD systems.

中文翻译：

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激光熔融沉积的机器人姿态生成方法

目的

本文旨在提供一种基于相交拓扑结构的机器人沉积路径的姿态生成方法，有助于提高沉积系统的灵活性和沉积能力。

设计/方法/方法

通过立体光刻（STL）模型的几何信息和法向矢量信息，产生相交的边缘信息并建立模型的拓扑关系。通过去除STL模型的冗余点和机器人路径点的种类，可以获得机器人路径点的位置信息。根据STL模型的法向矢量信息与机器人沉积路径点之间的几何关系，结合滚动俯仰角的机器人姿态表示方法，获得路径点的姿态信息。然后，实现了从零件的CAD模型到激光熔化机器人路径的生成，并进行了实验验证。

发现

对于简单的零件，无需沉积路径的姿势信息即可完成激光熔化过程。但是，在涡轮叶片的熔化过程中，侧壁上会积聚一些毛刺。基于相交拓扑的机器人沉积路径的姿态生成方法可以解决该问题。沉积点的光斑照射在成形部件的表面上，并且成形过程可以顺利进行。

实际影响

作为激光熔化沉积（LMD）的运动平台，多关节机器人的应用可以提高沉积系统的灵活性和沉积能力，并促进LMD在个性化制造，零件维修和绿色再制造方面的应用。

创意/价值

姿势对于机器人沉积路径至关重要。本文首先提出了一种LMD沉积路径的姿态生成方法，以提高LMD系统的柔性和沉积能力。