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.
