Tool path optimization for robotic surface machining by using sampling-based motion planning algorithms

2020 ◽  
pp. 1-28
Author(s):  
Lu Lei ◽  
Jiong Zhang ◽  
Xiaoqing Tian ◽  
Jiang Han ◽  
Hao Wang
Keyword(s):  
Motion Planning ◽  
Configuration Space ◽  
Tool Path ◽  
Path Optimization ◽  
Machining Process ◽  
Axis Orientation ◽  
Surface Machining ◽  
Tool Path Optimization ◽  
Tool Axis ◽  
Planning Algorithms

Abstract This paper develops a tool path optimization method for robot surface machining by sampling-based motion planning algorithms. In the surface machining process, the tool-tip position needs to strictly follow the tool path curve and the posture of the tool axis should be limited in a certain range. But the industrial robot has at least six degrees of freedom (Dof) and has redundant Dofs for surface machining. Therefore, the tool motion of surface machining can be optimized using the redundant Dofs considering the tool path constraints and limits of the tool axis orientation. Due to the complexity of the problem, the sampling-based motion planning method has been chosen to find the solution, which randomly explores the configuration space of the robot and generates a discrete path of valid robot state. During the solving process, the joint space of the robot is chosen as the configuration space of the problem and the constraints for the tool-tip following requirements are in the operation space. Combined with general collision checking, the limited region of the tool axis vector is used to verify the state's validity of the configuration space. In the optimization process, the sum of path length of each joint of the robot is set as the optimization objective. The algorithm is developed based on the open motion planning library (OMPL) which contains the state-of-the-art sampling-based motion planners. Finally, two examples are used to demonstrate the effectiveness and optimality of the method.

New Approaches in Tool Path Optimization of CNC Machining: A Review

2014 ◽  
Vol 663 ◽  
pp. 657-661 ◽  
Author(s):  
Khashayar Danesh Narooei ◽  
Rizauddin Ramli
Keyword(s):  
Tool Path ◽  
Research Direction ◽  
Cnc Machining ◽  
Numerical Control ◽  
Path Optimization ◽  
Machining Process ◽  
Future Research ◽  
Automotive Manufacturing ◽  
Tool Path Optimization ◽  
Automotive Part

Computer numerical control (CNC) machines have been widely used in automotive manufacturing industries especially of machining operation in automotive part such as engine body and cylinder. One of the key features that improve efficiency of CNC machining is through the optimization of tool path. Previous researcher to optimize tool path has premeditated several approaches. This paper aims to provide a critical review of those approaches that have been developed in tool path. The developed tool path approaches covered different types of machining process under various constraints condition. This paper focuses on tool path generation in CNC machining such as milling and cutting process. Based on our finding, this review paper collects information on tool path optimization and recommends future research direction.

Tool path optimization for free form surface machining

CIRP Annals ◽  
2009 ◽  
Vol 58 (1) ◽  
pp. 101-104 ◽  
Author(s):  
I. Lazoglu ◽  
C. Manav ◽  
Y. Murtezaoglu
Keyword(s):  
Tool Path ◽  
Path Optimization ◽  
Free Form ◽  
Surface Machining ◽  
Tool Path Optimization ◽  
Free Form Surface

Research on Five-Axis Dual-NURBS Adaptive Interpolation Algorithm for Flank Milling

2010 ◽  
Vol 443 ◽  
pp. 330-335 ◽  
Author(s):  
Yu Han Wang ◽  
Jing Chun Feng ◽  
Sun Chao ◽  
Ming Chen
Keyword(s):  
Tool Path ◽  
Flank Milling ◽  
Interpolation Algorithm ◽  
Machining Time ◽  
Surface Machining ◽  
Tool Axis ◽  
Scanning Area ◽  
Nurbs Interpolation ◽  
Milling Method ◽  
Five Axis

In order to exploit the advantages of five-axis flank milling method for space free surface machining to the full, a definition of non-equidistant dual-NURBS tool path is presented first. On this basis, the constraint of velocity of points on the tool axis and the constraint of scanning area of the tool axis are deduced. Considering both of these constraints, an adaptive feed five-axis dual-NURBS interpolation algorithm is proposed. The simulation results show that the feedrate with the proposed algorithm satisfies both of the constraints and the machining time is reduced by 38.3% in comparison with the constant feed interpolator algorithm.

Free Surface NC Machining Tool Path Optimization Algorithm Based on the Iso-Scallop Method

2015 ◽  
Vol 799-800 ◽  
pp. 1193-1196 ◽  
Author(s):  
Shu Kun Cao ◽  
Yong Hong Deng ◽  
Kun Zhang ◽  
Shi Ping Liu ◽  
Wen Jing Meng
Keyword(s):  
Free Surface ◽  
Optimization Algorithm ◽  
Tool Path ◽  
Nc Machining ◽  
Path Optimization ◽  
Surface Boundary ◽  
Step Size ◽  
Processing Efficiency ◽  
Tool Path Optimization ◽  
Point Set

In order to solve the problem of free surface processing of tool redundancy,the tool lack problem, and the demerit of low machining efficiency, etc., based on the iso-scallop method, based on the iso-scallop method, we put forward a kind of free surface NC machining tool path optimization algorithm,make the surface boundary discrete point set, which is generated by point set ring machining path, diagonal connection and then use the path of the adjacent curve, forming cutting tool machining line.finally, the calculation of step size and line spacing in machining path based on the iso-scallop method and the process of feeding direction is optimized. Proved by the simulation process, the algorithm is feasible and can effectively avoid tool redundancy and tool lack problems,concesquently, processing efficiency improved significantly.

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