面向直纹曲面的喷涂机器人喷枪轨迹优化

摘要/Abstract

摘要：

针对复杂曲面中直纹曲面的喷涂机器人喷枪轨迹优化问题,由实验数据得到平面上的喷枪2D模型,推导得出圆弧面上的喷枪3D模型;提出通过最小二乘圆弧逼近直纹曲面的思想,将直纹曲面分成若干圆弧面片的组合,直纹曲面上的喷涂轨迹优化问题可近似看作圆弧面来处理,并在每个圆弧面片上建立喷枪轨迹优化目标函数;讨论了两圆弧面片交界处的涂层厚度计算方法及喷枪轨迹优化问题。仿真实验验证了分片算法及数学模型的有效性,证明该喷枪轨迹优化方法与传统方法相比,可有效地提高曲率较大曲面的涂层均匀性,且在保证喷涂精度的前提下,有效地减少分片数。

关键词:

直纹曲面, 喷涂机器人, 圆弧面, 轨迹优化, 涂层均匀性

Abstract:

For the path optimization of a spray painting robot in complex curved surface,sush as ruled surface,the spray gun 2D model was obtained by experimental data,

and the spray gun 3D model was deduced in crown face.The method of least square approximation for ruled surface was proposed, ruled surface fractionized into the combination of crown face, the trajectory optimization problem in ruled surface can be approximated as crown face surface to deal with,and trajectory optimization objective function was established in each crown face, the calculation method of coating thickness and optimization algorithms were developed to integrate the trajectories on the intersecting area of two patch.

Finally, simulation results verify the segmentation algorithm and the mathematical model are valid, to prove out the spray gun trajectory optimization methods and compared to

traditional methods.

The coating uniformity can be effectively increased in curvature of a larger surface,and

the number of sub-chip can be effectively reduced under the premise of ensuring the accuracy of spraying.

Key words: ruled surface, spray painting robot, crown face, trajectory optimization, coating uniformity

中图分类号:

TP24

曾勇, 龚俊, 陆保印.

面向直纹曲面的喷涂机器人喷枪轨迹优化

[J]. 中国机械工程, 2010, 21(17): 2083-2089.

CENG Yong, GONG Dun, LIU Bao-Yi.

Trajectory Optimization of Spray Painting Robot for Ruled Surfaces

[J]. China Mechanical Engineering, 2010, 21(17): 2083-2089.

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