基于曲面参数化的喷涂轨迹规划

Spraying Trajectory Planning Based on Surface Parameterization

为解决工业机器人喷涂作业时传统人工示教方法耗时长、易出错和过于依赖人工的局限性,提出一种曲面喷涂轨迹规划方法。该方法将待加工曲面参数化到平面,在平面上生成偏置曲线,再将偏置曲线逆映射到三维曲面;根据网格模型测地线方法求出的偏置曲线长度和喷枪的喷涂张角信息,在偏置曲线上等比例生成等值线;以最小二乘B样条拟合曲线来平滑数据,并采用粒子群优化算法优化喷涂速度、喷枪高度、膜厚三者之间的关系,进而确定曲面喷涂轨迹。结果表明:该方法简单、实用,能够保证曲面喷涂轨迹的精确性、可行性。

In order to solve the limitations of traditional manual teaching methods in industrial robot spraying operations, such as time consuming, error-prone and relying too much on manual labor, a trajectory planning method for surface spraying was proposed. In this method, the surface to be machined was parameterized to a plane, the offset curves were generated on the plane, and then the offset curves were inversely mapped to a 3 D surface;the offset curve length and spray opening angle of the spray gun were calculated according to the grid model geodesic method, and the contour lines were generated in equal proportions on the offset curve;the least squares B-spline fitting curve was used to smooth the data, and particle swarm optimization algorithm was used to optimize the relationship among spraying speed, spray gun height and film thickness, and then the curved surface spraying trajectory was determined. The results show that the method is simple and practical, and can ensure the accuracy and feasibility of the curved surface spraying trajectory.