大型复杂曲面喷漆机器人喷枪轨迹优化研究

Trajectory optimization of spray painting robot for large complex curved surfaces

根据实验数据推出平面上漆膜累积速率二次函数后,对大型复杂曲面进行分片,在每一片上进行喷漆机器人喷枪轨迹优化。按照两片交界处喷枪路径的位置关系,分三种情况讨论漆膜厚度的计算方法和喷枪轨迹优化问题,采用最速下降法和模式搜索法进行求解。最后通过计算机仿真验证了优化算法的可行性。

After the material deposition rate function is provided according to the experiment data,a large complex curved surface has to be divided into several patches and trajectory optimization for each patch is performed. In order to satisfy the material uniformity requirements ,optimization algorithms of the three different cases are developed to integrate the trajectories on the intersecting area of two patches. The steepest descent algorithm and pattern search method are adopted to optimize the parameters. The results of simulations have shown that the model and the tool planning algorithm are feasible.