喷涂机器人的喷枪轨迹优化设计与实验

Design of Tool Path Planning of Robotic Spray Painting and Its Experiments

针对工件上涂层厚度均匀性与喷涂时间相互制约的问题,提出一种曲面上喷涂机器人喷枪轨迹优化设计方法。首先根据复杂曲面的几何特性,对曲面进行分片处理,求解每个曲面片上的喷涂速度和涂层重叠区域宽度的最优值;再利用无方向的连接图表示曲面上的喷枪轨迹优化组合问题,采用改进的粒子群算法进行求解。仿真和喷涂实验结果验证了算法的可行性和有效性。

A complex curved surface was divided into several patches and the trajectory planning for each patch was performed.A quadratic function of the paint deposition rate on a plane was proposed according to the experimental data,and a model of paint deposition rate was established.The trajectory integration problem can be modeled as the tool trajectory optimal integration,and a particle swarm optimization was advanced to solve the trajectory integration problem.Finally,the simulation and experimental results illustrate the feasibility and availability of these optimization algorithms.