Abstract:

An artificial spraying possessed low efficiency and volatilization of poisonous gas from glue, so an automatic spraying robot for shoe upper was designed. However, the postioning and motion errors of the spraying mouth were caused by the fixturing layout between the radial moving mechanism and the fixing frame. According to the bolt fixturing layout, the finite element method was used to establish the optimal mode of the bolt fixturing layout with the minimum deformation of the outer frame. By defining the minimum deformation of the outer frame as the fitness evaluation of individual, the genetic algorithm was employed to construct an iterative solution technology for the optimal mode of the fixturing layout. The suggested method can determine the optimal positions of the increased bolts to minimize the outer frame deformation during the spraying process. Thus, the spraying uniformity can be guaranteed to improve the shoe durability.

Key words: spraying robot, genetic algorithm, finite element method, fixturing layout

摘要：

针对人工涂胶过程中出现的效率低下、黏胶剂有毒等问题，设计了一种面向鞋大底的自动涂胶机器人。为减小因径向移动机构与固定架的连接方式导致的机器人涂胶头的定位误差与运动误差，根据径向移动机构的螺栓连接方式，运用有限元方法，建立了以外框架变形最小为目标的装夹布局优化模型，通过将外框架的最小变形定义为个体的适应度评价函数，运用遗传算法构建了装夹布局优化模型的递推求解算法。利用所提出的方法能够找到螺栓数目增加后的最优装夹位置，使得涂胶过程中外框架变形最小，从而确保涂胶的均匀性，提高鞋子的耐用性。

关键词: 涂胶机器人, 遗传算法, 有限元方法, 装夹布局