摘要
喷涂自动轨迹规划是以喷枪涂料沉积模型、工件表面CAD模型、约束条件和优化准则为基础,利用最优轨迹规划器自动生成喷枪轨迹。简介了喷涂自动轨迹规划的发展历程,分析了高斯分布模型、贝它分布模型、分析沉积模型、工件表面建模方法和优化准则,详细综述了最优轨迹规划器的研究进展,分析了目前自动轨迹规划研究存在的难点问题,并展望了自动轨迹规划的未来发展。
Automatic trajectory planning for spray painting is a method of automatically generating optimal spray gun trajectory based on paint deposition model,work piece surface model,optimization crite- rion,and constraints by optimal trajectary planner. The researching history of automatic trajectory planning for spray painting is introduced briefly. Afterwards ,Gauss distribution model,beta distribution model,ana- lytic deposition model,modeling for work piece surface,optimization criterion etc. are analyzed. In addition, research developments of optimal trajectory planner are reviewed in detail. At last,the difficulties of automat- ic trajectary planning technology to be solved are analyzed,and the development trend of it is presented.
出处
《机械设计与制造》
北大核心
2010年第2期149-151,共3页
Machinery Design & Manufacture
关键词
喷涂机器人
自动规划
最优轨迹
示教法
Painting robot
Automatic planning
Optimal trajectory
Teaching method
