摘要
机器人在喷漆作业过程中大部分时间是在做路径相似的重复空间轨迹运动,对于一个特定的作业对象,喷枪的运动路径可能有不同的形式。本文针对平面工件表面的喷漆作业,建立了喷枪喷矩模型,然后基于漆膜厚度变化的方差最小,用遗传算法对喷枪运动路径的参数进行优化,由于运枪方向不同而得到两种路径方案,再从机器人的动力学角度出发,以使整个路径中最大关节力矩和最小为目标,对喷枪路径进行优选,以达到既保证喷漆质量又能使机器人关节驱动电机的负载最小的目的。
For a planar surface to be painted by a five-DOF robot, a spray-painting gun model was established to calculate the paint thickness for arbitrary points near the painting-gun center along the gun＇s moving path. With the minimal thickness deviation from the given average thickness, painting-gun trajectory parameters were optimized by using genetic algorithm. As the gun＇s movement direction varies, two paths exist. Then the robot＇s dynamic model was utilized to minimize the sum of maximum moment of joints along all the paths and to select the best painting gun path. In this way the spray-painting quality is ensured and the robot＇s joint-driven motor works with minimum load.
出处
《机械科学与技术》
CSCD
北大核心
2006年第8期993-996,共4页
Mechanical Science and Technology for Aerospace Engineering
关键词
喷漆机器人
路径优化
动力学
遗传算法
spray-painting robot
trajectory optimization
dynamics
genetic algorithm
