为提高加工效率，对用于钢琴弦轴板孔群钻削加工的三轴直角坐标机械手的运动规划和加工路径优化方法进行了研究．首先采用抛物线过渡的线性插值算法对钻削过程进行运动规划，生成一条位置和速度都连续的平滑运动轨迹．然后以最短加工路径为目标，以无碰撞地绕过所有障碍物为约束条件，建立了孔群加工路径规划问题的数学模型，并采用分层优化的遗传算法获得了孔群加工的优化路径．最后以6种型号弦轴板为例进行计算，结果验证了算法的有效性．

In order to improve the processing efficiency, the motion planning and path optimization of a three-axis Cartesian coordinate manipulator, which is designed for the drilling of holes in piano chord axis plates, are investigated. In this investigation, the linear interpolation algorithm with parabolic transition is applied to the motion planning of the drilling, and a smooth trajectory with continuous position and velocity is generated. Then, a mathematical model describing the path planning for holes machining is established, with the shortest processing path as the object and with a collision-free way to bypass all the obstacles as the constraint. Moreover, a multi-layer genetic algorithm is used to find the solution to the mathematical model. Finally, six types of piano chord axis plates are used for algorithm verification. The results verify the effectiveness of the proposed algorithm.