西南交通大学学报2012，Vol.47Issue(1)：97-103,7.DOI:10.3969/j.issn.0258-2724.2012.01.016
圆锥面组合曲面的喷涂机器人喷枪轨迹优化
Tool Trajectory Optimization of Spray Painting Robot for Composite Conical Surfaces
摘要
Abstract
In order to solve the problem of poor coating uniformity of composite conical surfaces in tool trajectory optimization, a spray tool trajectory generation method was proposed according to the geometrical characteristics of conical surfaces. Using the spray trajectory optimization method that is based on the 3D model of a spray tool for conical surfaces, the tool trajectory optimization at the junction of the combined conical surfaces was discussed. Then, optimal objective functions were established to optimize the spray parameters. Simulation results show that the coating thickness after optimization meets the coating requirement. Compared with the general method, the proposed method can reduce the error of coating thickness between the maximal and ideal values by 0. 4 μm, and reduce the error between the minimal and ideal values by 1. 0 |xm. In addition, the above errors are 0. 8 and 1.4μm less in combination of synclastic patches than those in combination of inverted patches.关键词
圆锥面组合/喷涂机器人/轨迹优化/3D模型/涂层均匀性Key words
composite conical surface/ spray painting robot/ trajectory optimization/ 3D model/ coating uniformity分类
信息技术与安全科学引用本文复制引用
曾勇,龚俊,杨东亚,宁会峰..圆锥面组合曲面的喷涂机器人喷枪轨迹优化[J].西南交通大学学报,2012,47(1):97-103,7.基金项目
国家自然科学基金资助项目(51165022) （51165022）
