关键词: 涂胶机器人, 遗传算法, 有限元方法, 装夹布局

Abstract:

An artificial spraying possessed low efficiency and volatilization of poisonous gas from glue, so an automatic spraying robot for shoe upper was designed. However, the postioning and motion errors of the spraying mouth were caused by the fixturing layout between the radial moving mechanism and the fixing frame. According to the bolt fixturing layout, the finite element method was used to establish the optimal mode of the bolt fixturing layout with the minimum deformation of the outer frame. By defining the minimum deformation of the outer frame as the fitness evaluation of individual, the genetic algorithm was employed to construct an iterative solution technology for the optimal mode of the fixturing layout. The suggested method can determine the optimal positions of the increased bolts to minimize the outer frame deformation during the spraying process. Thus, the spraying uniformity can be guaranteed to improve the shoe durability.

Key words: spraying robot, genetic algorithm, finite element method, fixturing layout