喷涂机器人静电旋杯的新模型

摘要/Abstract

摘要： 旋杯的累积速率模型以及涂料投射模型是喷涂机器人离线编程轨迹规划的重要基础。针对累积速率模型，建立了一种新的模型——双偏置β模型，该模型既能表示满月形模型，也能表示局部非对称的圆环形模型。在此基础上，分析了新模型的匀速喷涂厚度模型，为离线编程的轨迹规划做准备；针对涂料投射模型，推导出了涂料投射模型为任意函数模型时，工件曲面上某点累积速率与基准面上对应点累积速率的关系，并结合实验数据构建了基于正态分布的曲线投射模型。经证明，此模型更符合实际情况。

关键词: 喷涂机器人, 离线编程, 累积速率模型, 双偏置&beta, 模型, 涂料投射模型

Abstract: The cumulative rate model and paint projection model were the important basis for off-line programming of spray robots. For the cumulative rate model, a double offset β model was established. The model might represent both of the full moon model and the locally asymmetric ring type model. Based on this analysis, the uniform velocity spray thickness model of the new model was analyzed, which was prepared for the trajectory planning of off-line programming. For the paint projection model, the functional relationship between accumulation rate of a point on workpiece surfaces and accumulation rate of corresponding point was deduced when the coating projection model was arbitrary function model. Then combined with the experimental data, a curve projection model was proposed based on normal distribution. The experiments prove that this model is more consistent with the actual situations.

Key words: spray robot；off-line programming；cumulative rate model；double offset &beta, model；paint projection model

中图分类号:

TP242.2

刘洋;赵臣;王旭浩;张佳俊. 喷涂机器人静电旋杯的新模型[J]. 中国机械工程.

LIU Yang;ZHAO Chen;WANG Xuhao;ZHANG Jiajun . A New Model of Spray Robot Electrostatic Rotating Cups[J]. China Mechanical Engineering.

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