基于改进遗传算法的喷涂机器人轨迹优化

Trajectory Optimization of Spray Painting Robotic Based on Improved Genetic Algorithms

针对复杂的自由曲面,采用匀速喷涂方法,曲面上曲率的变化造成涂层厚度差较大。首先,根据平面上的喷涂实验和微分几何的面积放大定理推导出自由曲面上的漆膜生长模型;其次,建立分段优化路径速率的优化模型;最后,以表面有凹凸结构的复杂曲面为喷涂对象,采用改进遗传算法进行轨迹优化。仿真结果验证了数学模型和优化算法的有效性与和可行性。

The change of curvature along the pass results in great non - uniform along the pass due to constant spray speed spraying surfaces of R3. First, the coat deposition rate function on freedom surface is provided according to the experiment data and the area magnification concept of differential geometry. Second, Speed optimization model based on Improved GA is established. Finally, the simulation results for.concavo-convex surfaces validate the model and arithmetic feasible.