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研究生：	梅可人 Mei, Ko-Jen
論文名稱：	以創新延伸式八元樹法應用於數控加工模擬系統之碰撞檢測與幾何移除 Novel Extended Octrees Method for Collision Detection and Volume Removal in Numerical Control Machining Simulation System
指導教授：	李榮顯 Lee, Rong-Shean
學位類別：	博士 Doctor
系所名稱：	工學院 - 機械工程學系 Department of Mechanical Engineering
論文出版年：	2016
畢業學年度：	104
語文別：	英文
論文頁數：	103
中文關鍵詞：	多軸工具機、虛擬工具機、虛擬機械手臂、八元樹、碰撞檢測、幾何移除模擬、切削力模擬
外文關鍵詞：	Octrees, Collision Detection, Machining Simulation, Multi-Axis, Virtual Machine Tool, Virtual Robot Arm, Cutting Force Prediction
相關次數：	點閱：152 下載：13
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應用多軸工具機加工及機械手臂的自動化製造在加工複雜曲面且高精度之製造產業，如航太、模具產業，扮演重要的角色。它須要軟體輔助分析、規劃、測試，達到高效率、高精度、穩定品質及降低成本的目的。模擬系統為智慧化製造重要的一環，高精度模擬須要大量運算，所以高效率的演算法及功能整合為重要課題。
本論文以線延伸八元樹之資料結構與演算法進行幾何移除，並以共享式三角形延伸八元樹的碰撞檢測運算。切削幾何再經分析模擬出靜態切削力。線延伸八元樹以線為最小運算單位，透過八元樹將幾何分割並以線架構表示，以布林運算幾何移除模擬。以n為邊長上單位網格的數目，線延伸八元樹使用O(n)的空間。線延伸八元樹可降低切削模擬運算量及提升精度。共享式三角形延伸八元樹以三角網格為最小運算單位，以八元樹架構分享三角網格，由於生成時不以八元樹網格切割三角網格，所以生成速度快。三角網格與八元樹底層節點互有連結，故可即時(on-line)移除及生成，搭配幾何移除演算法作碰撞檢測。
本論文提出的資料結構及演算法，可應用於整合虛擬工具機及機械手臂的碰撞檢測、切削幾何模擬、切削力模擬、機台運動模擬成一系統，並以工業實例五軸加工驗證模擬渦輪葉片及骨板自由曲面之加工。未來可擴增力學模型、計算幾何誤差、雲端操作等智慧化功能，輔助建立具有高適應性及高資源效率的工具機及機械手臂智慧製造系統。

Multi-axis machine tool acts as an important role in manufacture, such as aerospace and mold industries that need producing surface with high complexity and precision. It requires computer aided analyzing, planning and testing to reach the demands of high efficiency, high precision, steady quality and low cost. Simulation system is important part of intelligence manufacturing. The high precision simulation required massive calculation. Hence the algorithm with high efficiency and the functions integration are important topics.
In this study, Wires Extended Octrees method is proposed for volume removal simulation. And Shared Triangles Extended Octrees method is proposed for collision detection. The removed geometry is analyzed for simulating the static cutting force. The smallest unit of Wires Extended Octree is wire. The geometry is divided by Octree and each node contains wire structure. The volume removal is achieved by Boolean operation. The Wires Extended Octree costs the memory space of O(n), where n is the grid number on the edge of geometry. The Wires Extended Octree reduces the quantity of computation and raises the precision. The Shared Triangles Extended Octree applies triangle as the smallest computational unit, and shared triangles under the structure of Octree. Since there is no decomposition of any triangle, the modeling process is fast. The triangles and the leaf nodes of the Octree have links in both directions, so the modeling process can be on-line constructed and removed. The collision detection cooperates with the volume removal for the real-time simulation.
The data structures and algorithms integrates the functions of collision detection, volume removal, cutting force estimation and motion simulation to a system for virtual machine tools and virtual robot arms. It is verified by industrial cases of five-axis milling of a turbine blade and free-form surface of a bone bracket. The intelligent functions such as the cutting force model, the geometric error model and the cloud manipulation can be expanded, to achieve a machine tools and robot arms work cell with high adaptivity and high efficiency.

摘要	i
Abstract	iii
Acknowledgement	v
List of Figures	ix
List of Tables	xii
Nomenclature	xiii
Chapter 1.	Introduction	1
1.	Background	1
2.	Literature Review	1
2.1.	Hierarchical Data Structures of Octrees	2
2.2.	Collision Detection for NC Machining Simulation	3
2.3.	Volume Removal Simulation for NC Machining	6
2.4.	Evolution from Octrees to Wires-Extended Octrees	8
2.5.	CWE and Cutting Force Simulation for NC Machining			13
3.	Objective	13
4.	Thesis Scope	14
Chapter 2.	Shared Triangles Extended Octree and Collision Detection	16
1.	Data Structure	16
2.	Model Construction	19
3.	Collision Detection Algorithm	21
4.	A 2D Example	28
Chapter 3.	Wires-Extended Octree and Volume Removal Simulation	33
1.	Data Structure	33
2.	Model Construction	35
2.1.	Algorithm	35
2.2.	A 2D Example	42
3.	Triangulation	43
4.	Volume Removal Algorithm	50
Chapter 4.	CWE and Cutting Force Simulation	55
1.	Transformation from Workpiece Coordinate to Running Tool Coordinate	55
2.	Classification of Contact Area and Extraction of CWE	57
3.	Prediction of Cutting Force	59
Chapter 5.	Virtual Machine Tools and Virtual Robot Arms System	62
1.	Mechanism of Machine Tool	62
2.	Kinematic Chain and Component Tree	64
3.	Implementation of Collsion Detection, Volume Removal and Cutting Force Simulation	67
Chapter 6.	Results and Discussion	69
1.	Shared Triangles Extended Octrees Collision Detection	69
1.1.	Efficiency in performing collision detection on a virtual machine tool	69
1.2.	The efficiency of collision detection for sophisticated and nearby geometries	72
1.3.	Comparison test by adaptive octrees for collision detection	72
1.4.	Comparison test by OBB-tree for rapid construction	73
1.5.	Coordination between virtual machine tool and virtual robot arm	74
2.	Wires Extended Octrees in Volume Removal	75
2.1.	Efficiency in performing volume removal	75
2.2.	Modeling Error	80
2.3.	Comparisons with other volume removal methods	82
3.	Verification of Cutting Force Simulation	85
4.	NC Machining Simulation System and an 5-Axis Industrial Case of Milling a Turbine Blade	87
Chapter 7.	Conclusions and Future Works	94
1.	Conclusions	94
2.	Recommendation for Future Work	96
REFERENCES	98
                                    

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校內：2021-06-12公開
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