摘要
为提高机器人喷涂大曲率曲面的效果,首先基于曲面特性建立大曲率曲面数学表达模型,对其进行分片造型,并生成面片喷枪轨迹,最后建立优化目标函数实现轨迹优化;为了解决大曲率曲面分片后面片间的轨迹组合问题,降低算法中参数的使用,消除相应的除梯度信息,运用粒子群优化算法的思想,制定了算法程序技术路线,并依此编写了优化喷枪轨迹的算法程序。实验证明了该算法的高效性和适用性,达到了提高大曲率曲面喷涂效果的目的。
To find out the characteristics of a spray painting robot when a large curvature surface is sprayed,we set up its mathematical expression model based on the characteristics of the large curvature surface. Then the large curvature surface is divided into a number of combinations. We optimize the trajectory of the spray gun by setting up its optimization objective function. We use the idea of particle swarm optimization algorithm to solve the problem of patch trajectory combination,which is caused by shading. The use of algorithm improves the efficiency and accuracy of the spray painting robot for the big curvature surface.
出处
《机械科学与技术》
CSCD
北大核心
2015年第11期1670-1674,共5页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51165022)资助
关键词
大曲率曲面
粒子群优化算法
分片造型
轨迹组合
efficiency,global optimization,mathematical models,mesh generation,optimization,particle swarm optimization(PSO),robots,schematic diagrams,trajectories
big curvature surface,particle swarm algorithm,robots,spray gun
