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A novel path planning method of robotic grinding for free-form weld seam based on 3D point cloud

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Abstract

In robot grinding, the path planning has always been the main factor affecting the grinding efficiency. To improve the accuracy and automation level of robot grinding, a novel path planning method based on workpiece point cloud is proposed for the grinding of weld seam on curved surface. First, the point cloud of workpiece is obtained by the binocular structured light camera. After data preprocessing, this paper presents a novel approach of tangent planes determination based on the idea of point cloud slicing, which involves 3D projection and image binary extraction. Second, an approach for extracting the weld feature points is proposed based on the deviation term. By calculating the intersecting points between tangent planes and workpiece point cloud, this approach identifies the weld profile and extracts the feature points located in weld center. Then, to reduce the vibration in grinding, the feature points are polynomial fitted to generate a continuous weld grinding path, and a method of posture planning for grinding tool is presented based on grinding tool model and grinding process. Finally, this paper builds the “robot + 3D vision” platform and designs the grinding actuator, the effectiveness of this proposed method is verified by experiments.

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Acknowledgements

The authors gratefully thank the National Natural Science Foundation of China under Grant No.62103234 and No.62303276, the project ZR2021QF027 and ZR2022QF031 supported by Shandong Provincial Natural Science Foundation.

Funding

This work was supported by the National Natural Science Foundation of China (Grant numbers [62103234] and [62303276]), Shandong Provincial Natural Science Foundation (Grant numbers [ZR2021QF027] and [ZR2022QF031].

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Shandong Jianzhu University, Jinan, 250101, Shandong, China

    Yan Liu

  2. School of Control Science and Engineering, Shandong University, Jinan, 250061, China

    Shuai Yang & Xincheng Tian

  3. Scientific Journals Press, Shandong University, Jinan, 250100, China

    Qiu Tang

Authors
  1. Yan Liu
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  2. Shuai Yang
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  3. Qiu Tang
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  4. Xincheng Tian
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Contributions

All authors contributed to the study conception and design. Platform construction, data collection were performed by [Yan Liu], [Shuai Yang]. Data analysis and Material preparation were performed by [Qiu Tang]. The first draft of the manuscript was written by [Yan Liu], [Shuai Yang]. [Xincheng Tian] involved in all aspects of the paper preparation and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Yan Liu.

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Liu, Y., Yang, S., Tang, Q. et al. A novel path planning method of robotic grinding for free-form weld seam based on 3D point cloud. Int J Adv Manuf Technol 131, 5155–5176 (2024). https://doi.org/10.1007/s00170-024-13247-x

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