| 面向圆锥面的喷涂机器人喷枪轨迹优化 |
投稿时间：2018-08-12 修订日期：2018-10-22  点此下载全文 |
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| 基金项目:国家自然科学“犄角特征曲面喷涂机器人变倾角喷涂轨迹规划方法研究”(51405418)、江苏省“六大人才高峰”资助项目(JXQC-028)、江苏省高等学校自然科学研究重大项目(18KJA460009) |
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| 中文摘要:针对复杂二次曲面中近似圆锥面的喷涂机器人喷涂轨迹规划问题,基于推导得出自然二次曲面上的喷枪3D模型,根据喷涂要求,生成喷涂机器人沿圆截线喷涂的喷枪空间路径,得出喷枪轨迹优化设计是带约束条件的多变量优化问题,并选取涂层厚度方差最小作为目标函数,应用模式搜索算法对喷枪速率、喷涂半径和轨迹间距等相关喷枪参数进行求解。仿真结果表明：优化后的涂层厚度满足喷涂质量要求,与一般平面喷涂的喷枪2D模型相比,用喷枪3D模型喷涂圆锥面,其涂层均匀性有明显的提高。最后通过对某圆锥面片进行喷涂仿真,其结果验证了圆弧轨迹规划方法以及喷枪3D模型沿圆弧轨迹喷涂方案的有效性和可行性。 |
| 中文关键词:喷涂机器人 轨迹规划 圆锥面片 优化 仿真 |
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| Trajectory Optimization on Robotic spray Painting for Conical surface |
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| Abstract:Aiming at the spraying trajectory planning problem of the sprayed robot with approximate conical surface in the complex quadric surface, based on the derivation, the 3D model of the spray gun on the natural quadric surface is derived. According to the spraying requirements, the space path of the spray gun sprayed along the circular section is generated. The trajectory optimization design of the spray gun is a multivariable optimization problem with constraints. The minimum variance of the coating thickness is selected as the objective function. The model search algorithm is used to solve the related spray gun parameters. The simulation results show that the optimized coating thickness meets the requirements of spraying quality. Compared with the 2D model of the general spray gun, the spray cone 3D model is used to spray the conical surface, and the coating uniformity is obviously improved. Finally, through the spraying simulation of a conical surface, the results verify the effectiveness and feasibility of the circular trajectory planning method and the spray pattern of the 3D model of the spray gun along the circular path. |
| keywords:Painting robot Trajectory planning Conical patch Optimization Simulation |
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