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研究生: 林超良
Aldi Prasetyo Halim
論文名稱: 基於點雲的自主機器手臂磨削軌跡分層生成
Point Cloud-based Layering Generation for Autonomous Robot Grinding Trajectory
指導教授: 林其禹
Chyi-Yeu Lin
口試委員: 徐繼聖
Gee-Sern Hsu
林柏廷
Po Ting Lin
學位類別: 碩士
Master
系所名稱: 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年: 2021
畢業學年度: 109
語文別: 英文
論文頁數: 96
中文關鍵詞: 點雲自主軌跡生成螺旋槳高爾夫球桿頭分層生成
外文關鍵詞: Point cloud, Autonomous trajectory generation, Propeller, Golf clubhead, Layering generation
相關次數: 點閱:184下載:0
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摘要 iii ABSTRACT iv ACKNOWLEDGEMENT v TABLE OF CONTENTS vii LIST OF TABLES x LIST OF FIGURES xi CHAPTER 1 INTRODUCTION 1 1.1 Research Background 1 1.2 Motivation 2 1.3 The Objective and Scope of Study 3 CHAPTER 2 LITERATURE REVIEW 4 2.1 The 3D Representation of an Object in Layering Generation 4 2.1.1 Parametric Modeling 4 2.1.2 Mesh Representation 5 2.1.3 Point Cloud Model 6 2.1.4 3D Object Representation Comparison 8 2.2 Casting 9 2.3 Grinding 9 2.4 Online and Offline Programming 10 2.4.1 Online Programming 10 2.4.2 Offline Programming 11 CHAPTER 3 PROPOSED LAYERING GENERATION METHOD 12 3.1 Point cloud model for the input 12 3.1.1 Propeller 13 3.1.2 Golf Clubhead 15 3.2 Preprocessing 18 3.2.1 Propeller Preprocessing 19 3.2.2 Golf Clubhead Preprocessing 22 3.3 Layering 35 CHAPTER 4 EXPERIMENTAL RESULTS 42 4.1 Propeller Preprocessing 42 4.2 Golf Clubhead Preprocessing 42 4.2.1 Edge Detection of Golf Clubhead 45 4.2.2 Golf Clubhead without Extruded Parts 47 4.2.3 The Surface Filling for Golf Clubhead 48 4.2.4 The Golden Model of Golf Clubhead (1 extruded part) 52 4.2.5 The Golden Model of Golf Clubhead (3 extruded parts) 55 4.3 Layering Result 60 4.3.1 Layer for Propeller 60 4.3.2 Layer for Golf Clubhead 69 CHAPTER 5 CONCLUSIONS AND FUTURE WORKS 75 5.1 Conclusions 75 5.2 Future Works 77 REFERENCES 78

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