運用平行處理開發具預視功能之多軸工具機線上碰撞偵測

PC based On-line Collision Detection Using Parallel Processing and Look-ahead function for Multi-Axis Machining

彭鈺翔(Yu-Hsiang Peng)

指導教授 ： 林榮信 ； 姚宏宗

國立中正大學/工學院/機械工程學系/碩士(2012年)

摘要

現今業者為了提高市占率，無不希望自家產品能快速上市，故加工製作步驟越快越好，然而若不能確保加工路徑無問題，反而會因實際加工時發生撞機導致生產延宕；因此現今多在產品進行生產製造前，加入模擬加工步驟，讓使用者能預先檢驗整個加工流程是否有問題。 但是模擬加工系統多為off-line測試，無法做到加工與碰撞偵測同步，因此本研究主要是透過可程式化繪圖硬體，其在平行處理與浮點數運算上之強大校能，開發出平行化碰撞偵測模組，快速偵測機構間是否發生碰撞，並運用兩階段碰撞偵測使其在效率與精度上都能符合on-line偵測之需求；透過高速碰撞偵測，於加工前預讀一段加工路徑，提前進行偵測碰撞，實現預視功能。 搭配工具機模擬系統進行驗證並分析其結果，顯示本論文所提出的平行化碰撞演算法與預視功能在效率及精度上，都可以達到on-line工具機之碰撞偵測需求，使得加工與模擬檢測能同步進行，大幅提升工具機加工效益。

關鍵字

平行運算 ； 碰撞偵測 ； 預視功能 ； 五軸工具機

並列摘要

In these years, to raise the market share of their own manufacture, manufacturers hope to make their product appear in the market as fast as possible. Therefore accelerating the standard order of manufacturing is one of the most important topics in this field. If we cannot make sure whether there are problems in the path of the manufacturing, the collision in the manufacturing will waste the time of manufacture. Therefore, it is used to adding one step of simulation to let the user to figure out if there are problems or not.
Off-line testing system is the majority of all the simulating systems of manufacturing. It means that manufacturing and collision detection could not operate synchronously. To detect the collision between cutter and the machine in real time, we develop the collision detection module with parallel processor, which is based on the programmable graphic card and its powerful ability on parallel processing.
We detect the collision in two-level to zero the error.In the first level, the machine bodies are approximated by bounding boxes. Collision detection is conducted between these boxes. If there is any interference between these bounding boxes, those potential colliding parts will be further confirm in the second level by detecting characteristic of the STL(STereoLithography) models.
To analyze the efficiency, we look ahead the manufacturing path and the potential collision. It shows that our algorithm of collision with parallel processor and prediction of collision can satisfy the standard of machine with real time detection of collision in efficiently and accurately, so manufacturing and simulation of detection could operate in the same time. Consequently, the benefit of machine manufacturing is promoted significantly.

並列關鍵字

CUDA ； Parallel Processing ； Collision detection ； Look-ahead

參考文獻

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