摘要
多自由度机械臂3D打印可扩展传统熔融“2.5D”打印的空间自由度,增强打印件的综合力学性能。但由于传统曲面分层算法未进行特征区分,对无需支撑部分进行冗余的无支撑无碰撞约束,会加剧系统资源耗费和时间开销,显著降低切片效率。针对多自由机械臂曲面分层的效率问题,提出基于体素分解的自适应分层算法。以体素化为基础构建三维模型的空间信息,满足曲面分层对内部信息的需要;基于此,提出基于三维凸包的广度优先搜索算法,确保曲面分层的无碰撞无支撑,通过对分层过程中支撑结构的量化分解,实现高效的自适应分层。通过模型的分层仿真测试,结果表明,此算法可实现0.2 mm体素精度下的无支撑无碰撞分层,能够满足机械臂3D打印的分层效率需求。
Multi-DoF robotic arm 3D printing can extend the spatial degrees of freedom of traditional fusion"2.5D"printing and enhance the comprehensive mechanical properties of the printed parts.However,due to the lack of feature discrimination in the traditional surface stratification algorithm,the unsupported and collision-free constraints are implemented for the redundant parts without support,which increases the system resource consumption and time overhead,and significantly reduces the efficiency of slicing.Aiming at the efficiency problem of multi-DoF manipulator surface layering,an adaptive layering algorithm based on voxel decomposition is proposed.The spatial information of the 3D model is constructed based on voxelization to meet the needs of surface layering for internal information.Based on this,a breadth first search algorithm based on 3D convex hull is proposed to ensure that the surface layer is collision-free and unsupported.Through the quantitative decomposition of the support structure in the process of layering,the efficient and adaptive layering is achieved.Through the layered simulation test of the model,the results show that the proposed algorithm can achieve unsupported and collision-free stratification with 0.2 mm voxel accuracy,which can meet the layered efficiency requirements of robotic 3D printing.
作者
龚雨晨
张帆
谭跃刚
赵圆圆
GONG Yuchen;ZHANG Fan;TAN Yuegang;ZHAO Yuanyuan(School of Mechanical and Electronic Engineering,Wuhan University of Technology,Wuhan 430070,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第4期141-146,151,共7页
Machine Design And Research
关键词
无支撑无碰撞
机器人
3D打印
体素分解
free of support and collision
robot
3D printing
voxel decomposition
