孔群钻削的运动规划和加工路径优化研究

本文对三轴直角坐标机械手的运动规划和加工路径优化方法进行研究。此设备用于钢琴弦轴板群孔钻削加工。首先，采用抛物线过渡的线性插值算法，对钻削过程进行运动规划，生成一条位置和速度都连续的平滑运动轨迹。然后，基于遗传算法，以最短加工路径为目标，以无碰撞地绕过所有的障碍物为约束条件，获得孔群钻削的优化加工路径。并以六种型号弦轴板进行计算验证，计算结果验证了算法的有效性。

Research on Motion Planning and Processing Path Optimization for Drilling

This paper proposed the research on motion planning and processing path optimization method for three-axis Cartesian coordinate manipulator. This manipulator is designed for the piano chord axis plate’s drilling. First, the linear interpolation algorithm with parabolic transition is used for drilling motion planning. Second, the algorithm is designed based on genetic algorithms (GA). It is used to obtain optimal processing path for holes drilling, with the shortest processing path and collision-free way to bypass all the obstacles. Six types of piano chord axis plate is used for algorithm verification. The result shows effectiveness of the algorithm.