Abstract:

In order to solve the interference problem of the coating distribution which lead to the coating thickness error increase when one patch between two patches in path combination optimization. Two methods including direct revise and spray height revise were proposed to revise spray trajectory parameters. Based on the position of borders between each patches, the problem was divided into parallel and approximate parallel to discuss. Based on two revised methods, the trajectory planning methods and the optimization of spray parameters were given. Simulation and numerical analysis show that when revised spacing distance is bigger than ideal value, the direct revise method can be used to planning spray trajectory, otherwise the optimized direct revise method will be used. The error of coating thickness of the spray height revise method is less than that of the direct revise method about 3μm. Combination of two revise methods can solve the approximate parallel problem effectively.

Key words: spray painting robot, combination optimization, spray trajectory, revise

摘要：

喷涂路径组合优化过程中，当一面片介于两面片之间时，由涂层分布干涉引起的涂层厚度误差较大,为解决这个问题,提出了直接修正法和修正喷涂高度法的喷枪轨迹参数修正方法。根据中间面片两交界线的位置关系,将该问题分为交界线平行和近似平行两种情况讨论，并基于两种修正方法分别提出了两种情况下的喷枪轨迹规划方法和相关参数的优化方法。仿真实验和数值分析表明：当修正的轨迹间距比理想值大时，可采用未优化的直接修正法规划喷枪轨迹;
反之,可采用优化的直接修正法;在相同轨迹间距下，修正喷涂高度法比直接修正法的涂层误差要小３μm左右。验证了两种方法相结合解决近似平行时该问题的可行性和有效性。

关键词: 喷涂机器人, 组合优化, 喷枪轨迹, 修正