基于种子曲线的复杂曲面喷涂路径规划

Spraying Path Planning on Complex Surface Based on Seed Curve

介绍一种复杂曲面上喷涂机器人路径规划方法,以涂层厚度均匀,且厚度达到期望膜厚,喷涂时间短作为优化目标,对速度与行程间距进行优化。以种子曲线作为参考路径,在整个待喷涂曲面上移动该曲线,得到所有喷涂行程。由于针对复杂曲面,所以喷枪在喷涂时,不仅在垂直喷枪移动方向涂层累积速率发生变化,而且在喷枪移动方向涂层累积速率发生变化。为此采用一种分段速度优化的方法,将每一道行程分成若干段,对每一段上的速度进行优化,使得该行程附近区域,沿着该行程方向厚度均匀;然后优化行程间距,使得该行程之间厚度均匀,且达到期望膜厚。

A method of path planning of painting robot on complex surface is presented in this paper.To achieve the goal,uniformity of coating thickness and shortening spraying time and making coating thickness closed to the desired thickness,the speed and the distance between two strokes are optimized.A curve called seed curve is used as a reference path.This curve is moved on the surface to be sprayed to get all the strokes which is also called offset curve.Due to the complex surface,the coating accumulation rate change both in the direction of passes and in the direction orthogonal to passes when painting on the surface.