【摘要】 传统焊接轨迹提取方法大多依赖软件直接读取模型中的轨迹信息，数据种类多样，为此文章提出了一种基于轻量化模型的焊接轨迹提取方法。针对STL格式的多种类结构工件模型，通过分析三角面片的法向量夹角和中心点距离来完整捕捉表面信息，利用标量场生成等距切割线，并与焊接表面交线相交形成均匀分布的焊接节点。进一步地，通过计算距离节点最近的两个面片法向量之和，并结合Catmull-Rom样条插值算法构建曲线，从而确定节点姿态。最终，对提取的焊接节点进行误差分析实验，发现误差精度在±0.5 mm以内，满足机器人焊接要求，验证了轻量化模型焊接轨迹提取方法的有效性。更多还原

【Abstract】 Aiming at the problem that traditional welding trajectory extraction methods predominantly rely on software to directly read trajectory information from models, leading to diverse data types, this paper proposes a welding trajectory extraction method based on lightweight models. For STL-formatted models of workpieces with various structures, this method comprehensively captures surface information by analyzing the angles between normal vectors and the distances between the centroids of triangular facets. A scalar field is utilized to generate equidistant cutting lines, which intersect with the welding surface to form evenly distributed welding nodes. Furthermore, by calculating the sum of the normal vectors of the two facets nearest to each node and incorporating the Catmull-Rom spline interpolation algorithm, curves are constructed to determine the node orientations. Finally, an error analysis experiment is conducted on the extracted welding nodes, revealing that the error is within ±0.5 mm, which meets the requirements of robot welding. This validates the effectiveness of the proposed method in extracting welding trajectories from lightweight models.更多还原