Automatic path and trajectory planning for laser cladding robot based on CAD

Abstract

The robot path planning for forming complex parts is one of the key techniques in coaxial laser cladding powder. In this paper, a method of automatic robot path generation from CAD (computer aided design) is proposed. The size information and topological information of the CAD model are extracted. The redundant vertexes are removed. The new vertexes are ordered and traversed by binary tree algorithm model. The topological relations between vertexes, edges and faces are established. The CAD model and the robot path are displayed with OpenGL. The comparison and analysis between contour planning and hyperbolic curve planning are completed. The simulation shows the feasibility and validity of the path generation based on CAD. A new way of automatic robot path generation from CAD model is given and the efficiency of the robot cladding is improved.