The invention belongs to the technical field of magnetic
grinding, and especially relates to a method for generating an inner surface
polishing path of a spatial bend
pipe by center line reconstruction. The method is characterized by comprising the following steps: step 1, obtaining outer contour
point cloud of a spatial bend
pipe; step 2, through
curve fitting, obtaining three contour lines; step 3, generating a spatial bend
pipe by using the fit outer
contour line through a cross section intersection method; step 4, performing point
discretization on the generated bend pipe center line and the outer
contour line generated by measurement; step 5, establishing a space rectangular coordinate
system O0X0Y0Z0, setting the rectangular coordinate
system as a
robot tool coordinate
system; step 6, through translation and rotation, transforming a workpiece coordinate system to the tool coordinate system; step 7, through conversion of a homogeneous coordinate
transformation matrix on the coordinate system, obtaining a
pose coordinate in a
processing path at the
processing moment; step 8, obtaining a final
machine polishing path. The method can accurately determine a
processing path of a complex spatial bend pipe, and improves working efficiency.