基于CAD文件的直角坐标机械手绘图算法的研究
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摘要
本文结合基于图形图像处理的数控雕刻技术,开发了具有数控绘图功能的直角坐标机械手控制软件,使之能够对输入到机械手控制用PC机中的CAD图形进行识别转化处理,控制机械手在指定的位置以设定的速度绘制出CAD图形,同时具有路径优化的功能。
首先,本文根据对AutoDesk公司提供的DXF接口文件的分析,利用VC++6.0识别提取了CAD图形中的图元数据信息,并对提取的数据进行了优化处理。根据提取的数据,编写了基于数据采样直线插补算法、圆弧插补算法的运动控制命令。为了避免机械手在起、停阶段产生的抖动和冲击,设计了加减速功能。
其次,对绘图的路径进行了优化设计,根据TSP旅行商问题的求解算法思想,提出了适合于本系统的最短路径算法,得出了优化路径。
最后,本文介绍了直角坐标机械手硬件的组成原理及特性,并结合实际应用情况,讲述了控制模式和运动参数的设定。利用直角坐标机械手本体对数据提取优化,机械手绘图和绘图路径优化等三方面进行了试验,验证了绘图算法的可靠性和有效性,证明了直角坐标机械手数控绘图软件的实用性。
This paper has developed a mapping function control software in Cartesian coordinates manipulator to enable it to the importation of machinery to control the use of PC CAD graphics into identification, control manipulator in a designated area to set the pace of drawing CAD graphics, but with routing optimization functions.
Firstly,according to the company AutoDesk DXF document analysis,VC++6.0 identification extraction of CAD Graphics plans metadata information also extract data optimized. According to extracted data , based on data prepared by the sampling linear interpolation algorithm,circular interpolation algorithm for motion control orders. To avoid the manipulator,the stage stop dithering and the impact of the design acceleration and deceleration function.
Mapping the path of the optimal design,according to the TSP traveling salesman problem solving algorithm,made in the system for the shortest path algorithm,the optimal path drawn.
Secondly,this paper introduces the Cartesian coordinates manipulator control system,the principle and hardware characteristics,combined with practical application,on the control model and motion parameters settings.
Finally,the use of 3-DOF manipulator Cartesian coordinates platform optimized for data extraction , Manipulator mapping and graphics path optimization three aspects of the pilot,the certification part of the algorithm reliability and validity , proved that the three-DOF manipulator Cartesian coordinates NC Mapping function of practicality.
首先,本文根据对AutoDesk公司提供的DXF接口文件的分析,利用VC++6.0识别提取了CAD图形中的图元数据信息,并对提取的数据进行了优化处理。根据提取的数据,编写了基于数据采样直线插补算法、圆弧插补算法的运动控制命令。为了避免机械手在起、停阶段产生的抖动和冲击,设计了加减速功能。
其次,对绘图的路径进行了优化设计,根据TSP旅行商问题的求解算法思想,提出了适合于本系统的最短路径算法,得出了优化路径。
最后,本文介绍了直角坐标机械手硬件的组成原理及特性,并结合实际应用情况,讲述了控制模式和运动参数的设定。利用直角坐标机械手本体对数据提取优化,机械手绘图和绘图路径优化等三方面进行了试验,验证了绘图算法的可靠性和有效性,证明了直角坐标机械手数控绘图软件的实用性。
This paper has developed a mapping function control software in Cartesian coordinates manipulator to enable it to the importation of machinery to control the use of PC CAD graphics into identification, control manipulator in a designated area to set the pace of drawing CAD graphics, but with routing optimization functions.
Firstly,according to the company AutoDesk DXF document analysis,VC++6.0 identification extraction of CAD Graphics plans metadata information also extract data optimized. According to extracted data , based on data prepared by the sampling linear interpolation algorithm,circular interpolation algorithm for motion control orders. To avoid the manipulator,the stage stop dithering and the impact of the design acceleration and deceleration function.
Mapping the path of the optimal design,according to the TSP traveling salesman problem solving algorithm,made in the system for the shortest path algorithm,the optimal path drawn.
Secondly,this paper introduces the Cartesian coordinates manipulator control system,the principle and hardware characteristics,combined with practical application,on the control model and motion parameters settings.
Finally,the use of 3-DOF manipulator Cartesian coordinates platform optimized for data extraction , Manipulator mapping and graphics path optimization three aspects of the pilot,the certification part of the algorithm reliability and validity , proved that the three-DOF manipulator Cartesian coordinates NC Mapping function of practicality.
引文
1毒汁俊.工业机器人的应用及发展趋势.机械工程师. 2002,17(5):1~2
2杜志俊.工业机器人的应用将越来越广.机电国际市场. 2002,2:2~4
3邱润生.数控雕刻加工中的图像数据处理及其应用.微计算机信息. 2006,36(22):1~2
4曾伟梁,王青松,傅建中,李建华.计算机数控雕刻系统软硬件研究.机械与电子. 2001(5):45~46
5 Snyder WE. Industrial robots[M]. Englewood Cliffs,New Jersey,Prentice-Hall Inc,1985
6文广,马宏伟.数控技术的现状及发展趋势[J].机械工程师. 2003,17(l):1~14
7陆启建,刘明灯.数控技术的新发展趋势.制造技术与机床. 2002,10(5):7~10
8申丽国.国外数控技术的研究动向和发展趋势.机械工业自动化[J].1996,31(2):81~83
9吴慧兰,曾为民.计算机数控雕刻技术及其应用前景.机械设计与制造.2007,1:159~160
10曾伟梁,王青松,傅建中,李建华.计算机数控雕刻系统软硬件研究.机械与电子. 2001(5):45~46
11龚清洪.基于DXF的绘图轨迹优化及仿真系统研究与实现.西北工业大学硕士论文
12何斌. VC++数字图像处理.北京:人民邮电出版社,2004:20~112.
13张开敏,陈登平,杨明忠.基于VC++的图像快速雕刻自动编程软件开发.机电工程技术. 2005,34(1):143~146
14赵云霞.数控编程.北京:机械工业出版社,2001:30~45
15余国兴,丁玉成,李涤尘.平面多轮廓加工路径优化模型及其近似算法.西安交通大学学报.第38卷,第1期,2004年1月
16 Little J. D.,An Algorithm for the Traveling Salesman Problem,Operations Research,11,1963,979~989
17穆海华,彭芳瑜,陈吉红.基于DXF的大型数控平面绘图机CAM系统.机床与液压. 2003,5:107~110
18黄辉.基于数字图像处理的数控雕刻系统研制.西南交通大学硕士论文
19 AutoDesk,AutoCAD Document Help
20 http://BusNC.com数控工作室
21雷宇,梁剑新,项占琴.平面雕刻数控自动编程系统的开发.研究开发.2001 39(8):444~448
22徐微,王普.数字化设计制造技术在飞机研制中的应用研究与实践.航空造技术,2001年第4期
23 Dacies ER,Plummer APN,Thinning Algorithms:a critique and a new metho-dology[J]. Pattern Recognition. 1981,15(14):53~63
24李存荣,郭顺生,杨明忠.图像快速雕刻自动编程软件的研究与开发.仪器仪表学报. 2004,25(4):57~60
25付桂龙,程筱胜.基于PC的开放式数控系统实现方法.机械设计与制工程2002,29(1):21~24
26张金萍,倪洪启,罗鹏,赵艳春,朱成实. DXF接口文件在复杂图形数控加工中的应用.沈阳化工学院学报2004 ,18(2):154~155
27 David S.Johnson、Lyle A.McGeoch,the Traveling Salesman Problem:A Case Study in Local OPtimization,In:EHL Aarts,JK Lenstraeds. LocalSearch in Optimization.New York:Tohn Wiley and Sons,1997.215~310
28 L ien YN,Ma E. Transformation of the generalized traveling salesman problem into the standard traveling salesman problem. Information Sciences,1993,74:177~189
29 Dorigo M,Maniezzo V,Colorni A. The Ant system optimization byacolony of cooperating agents[J]. IEEE Transactions on Systems,Man,and Cybernetics Part B,1996,26(1):l~13
30 Holland J. Adaptation in Natural and Artificial Systems[M]. Ann Arbor:Univ. of Michigan Press ,1977
31 Bland RG and Shallcross DE Large Traveling Salesman Problem arising from exPeriments in X-ray crystallography OPs Res Lett,1989,8:125~128
32 Litke JD,An improved solution to the traveling salesman Problem with thousands of nodes,ACM commun,1984,27:1227~1236
33 Grotschel M and Holland A Solution of large-scale symmetric traveling salesman Problems,Mathematical Programming,1991,51(2):41~202
34 Harada , hiroyuki : Kagiwada , Tadao. Method for ball screw generationwithout form - dressing (two - dimensional setting of wheel axis and one - path processing). Transactions of the Japan Society of Mechanical Engineers,Part C v63:p247～253
35 Kagiwada,Tadao. Computer - aided thread grinding without form dressing. JSME International Journal , Series C : Dynamics , Control , Robotics ,Design and Manufacturing v37:P217~223
36 Vaccache NJ,Shinghal R SPTA. A Proposed Algorithm for Thinning by Binary Patterns[J]. IEEE Trans system.1984,14(3):409~418
37 Kalian,H;Lewenstein,M;Shafrir,N;Sviridenko,M;Approximation algorithms for asymmetric TSP by decomposing directed regular multigraphs:IEEE Foundations of Computer Science 2003,14:55~65
38 Grefenstaette J,et.al. Genetic algorithms for the traveling salesman Problem In:Proc of 1st Int. Conf on Genetic Algorithms and Their Applications Lawrence Erlbaum Associates,1985,160~180
39 Whitley D,et,al. Scheduling Problems and Traveling Salesman:The Genetic Edge Recombination operator. In : Proc , of 3rd Int. Conf on Genetic Algorithms,Morgan Kaufmann 1989,133~140
40 G. Reinelt,TSPLIB-A Traveling Salesman Problem Library,ORSA J,Comput,3-4,376~385(1991)
41 Traveling Salesman Problem-Home Page,http://www.TSP.gatech.edu/.
42景雪琴. VC+ +类和文件技术在AutoCAD二次开发中的应用.微机发展. 2005,15(8):137~138
43吴祖育,秦鹏飞.数控技术.上海:上海科学技术出版社,2000:3~12
44陆启建,刘明灯.数控技术的新发展.制造技术与机床. 2002,10(5):7~10
45 Kasturi R,Bow ST. A system for interpretation of Line drawings[J]. IEEE Trans Pattern on Analysis and Machine Intelligence.1990,12(10):910~9 18
46宋林郁,张开敏,郭顺生.激光图像快速雕刻自动编程软件的开发.机械工程师. 2004,7(11):45~48
47 Bellman R,Dynamic Programming Treatment of the Traveling Salesman Problem,J. A. CM.,9,1962,61~63
48 Dantzig G. B.,Solution for a Large Scale Traveling Salesman Problem,Operatins Research,2,1954,393~410
2杜志俊.工业机器人的应用将越来越广.机电国际市场. 2002,2:2~4
3邱润生.数控雕刻加工中的图像数据处理及其应用.微计算机信息. 2006,36(22):1~2
4曾伟梁,王青松,傅建中,李建华.计算机数控雕刻系统软硬件研究.机械与电子. 2001(5):45~46
5 Snyder WE. Industrial robots[M]. Englewood Cliffs,New Jersey,Prentice-Hall Inc,1985
6文广,马宏伟.数控技术的现状及发展趋势[J].机械工程师. 2003,17(l):1~14
7陆启建,刘明灯.数控技术的新发展趋势.制造技术与机床. 2002,10(5):7~10
8申丽国.国外数控技术的研究动向和发展趋势.机械工业自动化[J].1996,31(2):81~83
9吴慧兰,曾为民.计算机数控雕刻技术及其应用前景.机械设计与制造.2007,1:159~160
10曾伟梁,王青松,傅建中,李建华.计算机数控雕刻系统软硬件研究.机械与电子. 2001(5):45~46
11龚清洪.基于DXF的绘图轨迹优化及仿真系统研究与实现.西北工业大学硕士论文
12何斌. VC++数字图像处理.北京:人民邮电出版社,2004:20~112.
13张开敏,陈登平,杨明忠.基于VC++的图像快速雕刻自动编程软件开发.机电工程技术. 2005,34(1):143~146
14赵云霞.数控编程.北京:机械工业出版社,2001:30~45
15余国兴,丁玉成,李涤尘.平面多轮廓加工路径优化模型及其近似算法.西安交通大学学报.第38卷,第1期,2004年1月
16 Little J. D.,An Algorithm for the Traveling Salesman Problem,Operations Research,11,1963,979~989
17穆海华,彭芳瑜,陈吉红.基于DXF的大型数控平面绘图机CAM系统.机床与液压. 2003,5:107~110
18黄辉.基于数字图像处理的数控雕刻系统研制.西南交通大学硕士论文
19 AutoDesk,AutoCAD Document Help
20 http://BusNC.com数控工作室
21雷宇,梁剑新,项占琴.平面雕刻数控自动编程系统的开发.研究开发.2001 39(8):444~448
22徐微,王普.数字化设计制造技术在飞机研制中的应用研究与实践.航空造技术,2001年第4期
23 Dacies ER,Plummer APN,Thinning Algorithms:a critique and a new metho-dology[J]. Pattern Recognition. 1981,15(14):53~63
24李存荣,郭顺生,杨明忠.图像快速雕刻自动编程软件的研究与开发.仪器仪表学报. 2004,25(4):57~60
25付桂龙,程筱胜.基于PC的开放式数控系统实现方法.机械设计与制工程2002,29(1):21~24
26张金萍,倪洪启,罗鹏,赵艳春,朱成实. DXF接口文件在复杂图形数控加工中的应用.沈阳化工学院学报2004 ,18(2):154~155
27 David S.Johnson、Lyle A.McGeoch,the Traveling Salesman Problem:A Case Study in Local OPtimization,In:EHL Aarts,JK Lenstraeds. LocalSearch in Optimization.New York:Tohn Wiley and Sons,1997.215~310
28 L ien YN,Ma E. Transformation of the generalized traveling salesman problem into the standard traveling salesman problem. Information Sciences,1993,74:177~189
29 Dorigo M,Maniezzo V,Colorni A. The Ant system optimization byacolony of cooperating agents[J]. IEEE Transactions on Systems,Man,and Cybernetics Part B,1996,26(1):l~13
30 Holland J. Adaptation in Natural and Artificial Systems[M]. Ann Arbor:Univ. of Michigan Press ,1977
31 Bland RG and Shallcross DE Large Traveling Salesman Problem arising from exPeriments in X-ray crystallography OPs Res Lett,1989,8:125~128
32 Litke JD,An improved solution to the traveling salesman Problem with thousands of nodes,ACM commun,1984,27:1227~1236
33 Grotschel M and Holland A Solution of large-scale symmetric traveling salesman Problems,Mathematical Programming,1991,51(2):41~202
34 Harada , hiroyuki : Kagiwada , Tadao. Method for ball screw generationwithout form - dressing (two - dimensional setting of wheel axis and one - path processing). Transactions of the Japan Society of Mechanical Engineers,Part C v63:p247～253
35 Kagiwada,Tadao. Computer - aided thread grinding without form dressing. JSME International Journal , Series C : Dynamics , Control , Robotics ,Design and Manufacturing v37:P217~223
36 Vaccache NJ,Shinghal R SPTA. A Proposed Algorithm for Thinning by Binary Patterns[J]. IEEE Trans system.1984,14(3):409~418
37 Kalian,H;Lewenstein,M;Shafrir,N;Sviridenko,M;Approximation algorithms for asymmetric TSP by decomposing directed regular multigraphs:IEEE Foundations of Computer Science 2003,14:55~65
38 Grefenstaette J,et.al. Genetic algorithms for the traveling salesman Problem In:Proc of 1st Int. Conf on Genetic Algorithms and Their Applications Lawrence Erlbaum Associates,1985,160~180
39 Whitley D,et,al. Scheduling Problems and Traveling Salesman:The Genetic Edge Recombination operator. In : Proc , of 3rd Int. Conf on Genetic Algorithms,Morgan Kaufmann 1989,133~140
40 G. Reinelt,TSPLIB-A Traveling Salesman Problem Library,ORSA J,Comput,3-4,376~385(1991)
41 Traveling Salesman Problem-Home Page,http://www.TSP.gatech.edu/.
42景雪琴. VC+ +类和文件技术在AutoCAD二次开发中的应用.微机发展. 2005,15(8):137~138
43吴祖育,秦鹏飞.数控技术.上海:上海科学技术出版社,2000:3~12
44陆启建,刘明灯.数控技术的新发展.制造技术与机床. 2002,10(5):7~10
45 Kasturi R,Bow ST. A system for interpretation of Line drawings[J]. IEEE Trans Pattern on Analysis and Machine Intelligence.1990,12(10):910~9 18
46宋林郁,张开敏,郭顺生.激光图像快速雕刻自动编程软件的开发.机械工程师. 2004,7(11):45~48
47 Bellman R,Dynamic Programming Treatment of the Traveling Salesman Problem,J. A. CM.,9,1962,61~63
48 Dantzig G. B.,Solution for a Large Scale Traveling Salesman Problem,Operatins Research,2,1954,393~410