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

Abstract

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

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:

机器人喷涂, 轨迹优化, 粒子群算法, 喷涂实验

CLC Number:

TP24

CHEN Wei-1, 2, DIAO De-An-1, LIANG Shen-2.

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

[J]. China Mechanical Engineering, 2011, 22(17): 2104-2108.

陈伟1, 2, 赵德安1, 梁震2.

喷涂机器人的喷枪轨迹优化设计与实验

[J]. 中国机械工程, 2011, 22(17): 2104-2108.

References

[1]李发忠[1],赵德安[1],姬伟[1],王津京[1].面向凹凸结构曲面的喷漆机器人轨迹优化研究[J].江苏科技大学学报：自然科学版,2008,22(4):64-67.
[2]李发忠[1],赵德安[1],张超[1],姬伟[1].基于CAD的喷涂机器人轨迹优化[J].农业机械学报:213-217.
[3]赵德安[1],陈伟[2],汤养[1].基于遗传算法的喷涂机器人喷枪路径规划[J].中国机械工程:777-779.
[4]Sheng W H, Xi N, Song M, et al. Automated Cad --guided Robot Path Planning for Spray Painting of Compound Surfaces [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Tankamutsa, Japan, 2000 : 1918-1923.
[5]Sheng W H, Xi N, Chen H P. Suface Partitioning in Automated CAD Guided Tool Planning for Addi- tive Manufacturing[ C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Las Vegas,Nevada, 2003: 2072-2077.
[6]Sheng W H, Chen H P, Xi N. Toot Path Planning for Compound Surfaces in Spray Forming Processes [J]. Automation Science and Engineering, 2005, 2 (6) : 240-249.
[7]Chen H P,Sheng W H. Automated Robot Trajecto- ry Planning for Spray Painting of Free Form Sur- faces in Automotive Manufacturing[C]//Proceed- ings of the 2002 IEEE International Conference on Robotics and Automation. Washington D C, 2002: 450-455.
[8]Chen H P ,Xi N, Sheng W H, et al. Optimal Spray Gun Trajectory Planning with Variational Distribu- tion for Forming Process [C]//Proceedings of the 2004 IEEE International Conference on Robotics and Automation. New Orleans, LA, 2004 : 45-50.
[9]Chen H P,Sheng W H, Dahl J. Optimizing Material Distribution for Tool Trajectory Generation in Sur face Manufacturing[C]//Proceedings of the 2005 IEEE/ASME Internation Conference on Advanced Intelligent Mechatronies. Monterey, CA, 2005 : 1389-1394.
[10]Chen Wei, Zhao De' an. Tool Trajectory Optimiza- tion of Robotic Spray Painting[C]//IEEE Interna- tional Conference on Intelligent Computation Tech-nology and Automation. Changsha, 2009 : 419-422.
[11]黄红选,韩继业.数学规划[M].北京:清华大学出版社,2006:150-155.

[1]	ZHANG Xi-Ning, DIAO Meng, WEN An-Rui. A Multi-objective Optimization Method for Holo-balancing Weights of Rotor Set [J]. J4, 201016, 21(16): 1974-1977.
[2]	Yao DAI, Yong ZENG, Xueya ZHAO, Junhao WAN, Jintong GU, Xinyi ZHU. Research on Optimization of Uniformity of Robot Spraying Coatings for Changing Positions on Convex and Concave Characteristic Surfaces [J]. China Mechanical Engineering, 2025, 36(11): 2694-2703.
[3]	WEN Xiaoyu1, ZHANG Hao1, ZHANG Yuyan1, LIU Siren2, JI Shuo1, GUO Weifei1, LI Hao1. Optimization of Laser Tracker Positions in Aircraft Assembly Processes under Digital Twin Environments [J]. China Mechanical Engineering, 2025, 36(07): 1573-1581,1635.
[4]	WANG Guirong, NI Zhiqiang, ZHOU Kun, WANG Binrui. Time-optimal Trajectory Planning of Robotic Arms Based on MIPSO Algorithm [J]. China Mechanical Engineering, 2025, 36(05): 1044-1053.
[5]	CHANG Daliang1, 2, 3, SHI Haibo1, 2, LIU Chang1, 2. Multi-objective Scheduling Optimization for Hybrid Flow Shops with Limited Waiting Time and High Energy Consumption [J]. China Mechanical Engineering, 2024, 35(07): 1269-1278.
[6]	CHEN Zhiyong, LI Pan, YE Mingxu, LIN Xinyou. RBF Neural Network Adaptive Control for Autonomous Electric Vehicles Based on Parameter Prediction [J]. China Mechanical Engineering, 2024, 35(06): 982-992.
[7]	ZHANG Zhiwen1, 2, LIU Bowei3, ZHANG Jiyuan1, TANG Jie1, ZHANG Tianci1, 2. Cooperative Optimization of Intelligent Vehicle Path Planning Based on PSO-SSA and RRT [J]. China Mechanical Engineering, 2024, 35(06): 993-999，1009.
[8]	CHEN Zhuofan, ZHOU Kun, QIN Feifei, WANG Binrui. Inverse Kinematics Solution of Robots Based on IQPSO Algorithm [J]. China Mechanical Engineering, 2024, 35(02): 293-304.
[9]	RONG Yu, CHEN Gang, DOU Tianci, . A Multi Index Comprehensive Optimal Anti Impact Trajectory Planning Method [J]. China Mechanical Engineering, 2024, 35(02): 305-316.
[10]	SUN Yuxiang, CHEN Li, LONG Bo, WANG Yanping, LIU Shihua, JIA Kun. Intelligent Layout for Pipeline Supports of Nuclear Power Plant under Complex Load [J]. China Mechanical Engineering, 2024, 35(02): 317-323，336.
[11]	CHEN Junxiang, KONG Xiangdong, XU Kelong, AI Chao, . Comprehensive Performance Optimization of High Pressure Threaded Plug-in Relief Valves [J]. China Mechanical Engineering, 2023, 34(24): 2909-2919,2926.
[12]	LIU Xiaobao, YAN Qingxiu, YI Bin, YAO Tingqiang, GU Wenjuan. Optimization of Process Parameters in Process Manufacturing Based on Ensemble Learning and Improved Particle Swarm Optimization Algorithm [J]. China Mechanical Engineering, 2023, 34(23): 2842-2853.
[13]	LI Guangbao, GAO Dong, LU Yong, PING Hao, ZHOU Yuanyuan. Adaptive Kalman Filtering and PSO-GA-BP Algorithm for Robot Error Compensation [J]. China Mechanical Engineering, 2023, 34(20): 2456-2465.
[14]	DUAN Linchao, ZHANG Xugang, ZHANG Hua, SONG Huawei, AO Xiuyi. SOC Estimation of Lithium-ion Batterys Based on Second-order Approximation Extended Kalman Filter [J]. China Mechanical Engineering, 2023, 34(15): 1797-1804.
[15]	TIAN Zongrui, ZHI Pengpeng, YUN Guoli, GUO Xinkai, GUAN Yi. Multi-objective Robust Optimization Design Method Based on Adaptive Incremental Kriging Model [J]. China Mechanical Engineering, 2023, 34(08): 931-940.