| Summary: | 碩士 === 元智大學 === 資訊工程學系 === 104 === Surface polishing is important role in the industry of metalworking, because it affects the customers' impression. In the tradition, these processes been done by workers who hold the polishing tools or workpieces by hand. Due to long working time, workers will suffer from occupational injury. With the revolution of technology, the popularity of multi-axis robot arm is increasing. The robot arm has been applied to the polishing process in the industry. However, most of these workflows of automatic polishing process still required much time to tedious works, and highly depends on skilled worker to teach the robot arm how to polish the workpiece. According to the statistics, it takes worker one week to finish teaching.
In this thesis, we provide user with polishing surfaces once. First, we merge the patches of required polishing surfaces into a bigger one and keep patches adjacent from the neighboring relation of surfaces in parametric space. Next, we generate a polishing path on the big patch and re-project these paths onto surfaces and adjust the distance of between points in the polishing paths and distance of the between polishing paths by user parameters. Finally, our system output the polishing path into a data to multi-axis robot arm for automatically polishing process.
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