Spiral Sweeping Inspection Path Planning Algorithm For Tubular Surface

Along with the rapid development of modern manufacturing industry,tubular surfaces are widely used in the high precision parts which are used in the field of aerospace equipment,optical instruments and medical equipment,and so on.The inspection of tubular surfaces is the critical step on the error analysis of it or in the process of model reconstruction.At present,the more efficient inspection method for tubular surfaces is mainly adopted in divisional five-axis continuous sweeping inspection.The method of dividing the inspection areas restricts the efficiency of tubular surfaces inspection.This paper proposes a spiral sweeping inspection method for the tubular surfaces,and the spiral sweeping inspection path planning algorithm is studied,the purpose is by reducing the moving time of probe head in 5-axis CMM which is not measuring and the length of the trajectory curve to improve the efficiency of tubular surface inspection.Spiral sweeping inspection path planning algorithm mainly includes the following processes: the offset of tubular surfaces;the triangulation of the offsetting tubular surfaces and the building of triangles in topology;The parameterization of tubular offsetting surfaces after triangulation based on Harmonic mapping,to obtain the tubular offsetting surfaces mapping graph;The planning of guide line and the boundary line in the map graph,and The position ratios of the intersection points are obtained by the intersection algorithm between the guide line and boundary line in the mapping graph and the triangular patches;According to the position ratios of the intersection points,the spiral guide curve and the spiral boundary curve are generated;The spiral trajectory curve of the probe head's rotary center is generated by controlling the front Angle and side-slip Angle of the probe head stylus;The generation of the normal inspection path of the oscillating sweeping path based on the dichotomization iteration method;The generation of the real oscillating sweeping path of the probe stylus tip based on the trajectory curve and the normal inspection path.The length of the trajectory curve in the spiral sweeping inspection is the main factors which will influence the sweeping inspection efficiency.Overall considering the length and the fairing of the trajectory curve,the optimization model of the trajectory curve is established,which only care about the front Angle influencing the length and the fairing of the trajectory curve.Then optimal solution of the optimization model of the trajectory curve is found based on the genetic algorithm,differential evolution algorithm and particle swarm optimization three kinds of optimization algorithms.Finally from the four aspects of the length,curvature,torsion ratio of the trajectory curve and the contact angle of the discrete points which generated the trajectory curve,the trajectory curve of before and after optimization are contrastive analyzed.By the simulation experiment and the actual inspection experiment of the spiral sweeping inspection path and divisional sweeping inspection path,as well as the contrastive analysis and discussion of experiment results,the sweeping inspection path generated by the spiral sweeping inspection path planning algorithm based on this study having improved the efficiency of tubular surfaces sweeping inspection is verified.