中国机械工程 ›› 2011, Vol. 22 ›› Issue (17): 2104-2108.

• 机械基础工程 • 上一篇    下一篇

喷涂机器人的喷枪轨迹优化设计与实验

陈伟1,2;赵德安1;梁震2
  

  1. 1.江苏大学,镇江,212013
    2.江苏科技大学,镇江,212003
  • 出版日期:2011-09-10 发布日期:2011-09-14
  • 基金资助:
    国家自然科学基金资助项目(60875052)
    National Natural Science Foundation of China(No. 60875052)

Design of Tool Path Planning of Robotic Spray Painting and Its Experiments

Chen Wei1,2;Zhao De’an1;Liang Zhen2
  

  1. 1.Jiangsu University, Zhenjiang,Jiangsu,212013
    2.Jiangsu University of Science and Technology, Zhenjiang,Jiangsu,212003
  • Online:2011-09-10 Published:2011-09-14
  • Supported by:
    National Natural Science Foundation of China(No. 60875052)

摘要:

针对工件上涂层厚度均匀性与喷涂时间相互制约的问题,提出一种曲面上喷涂机器人喷枪轨迹优化设计方法。首先根据复杂曲面的几何特性,对曲面进行分片处理,求解每个曲面片上的喷涂速度和涂层重叠区域宽度的最优值;再利用无方向的连接图表示曲面上的喷枪轨迹优化组合问题,采用改进的粒子群算法进行求解。仿真和喷涂实验结果验证了算法的可行性和有效性。

关键词:

Abstract:

A complex curved surface was divided into several patches and the trajectory planning for each patch was performed. A quadratic function of the paint deposition rate on a plane was proposed according to the experimental data, and a model of paint deposition rate was established.The trajectory integration problem can be modeled as the tool trajectory optimal integration, and a particle swarm optimization was advanced to solve the trajectory integration problem. Finally, the simulation and experimental results illustrate the feasibility and availability of these optimization algorithms. 

Key words: robotic spray painting, trajectory optimization, particle swarm optimization, spray painting experiment

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