基于Z-map理论的喷枪轨迹生成方法  

Trajectory generation of painting gun based on Z-map theory

作　　者：刘超颖[1] 杨晓博[1] 王战中[1] 李博[1] 张俊[1] 

机构地区：[1]石家庄铁道大学机械工程学院,石家庄050043

出　　处：《机械设计与制造》2012年第1期158-160,共3页Machinery Design & Manufacture

基　　金：河北省自然科学基金项目--非球型手腕6R喷涂机器人及关键技术研究(F2008000448);河北省教育厅项目--基于自由曲面CAD模型喷涂轨迹规划研究(2009335)

摘　　要：喷漆机器人作为一种先进的涂装生产设备已广泛应用于产品内外表面的喷涂,由于现代工业产品外形相当复杂,如何实现涂层均匀化变得极为重要。基于Z-map理论,在自由曲面CAD模型的基础上,将自由曲面三角网格化得到多面体模型,然后利用Z-map方法实现了等距喷涂情况下喷涂节点的坐标及其法向量的提取,将喷涂节点插补优化后连接为喷枪的喷涂轨迹,从而实现了自动生成自由曲面上喷枪轨迹。最后,以一汽车CAD模型为例生成了机器人喷涂轨迹。Spray-painting robot,an advanced painting equipment,has been widely used in painting both inside and outside surface of products.Because modern product＇s appearance is very complex,how to painting it uniformly has become an extremely important problem.Based on Z-map theory and the CAD model of free surface,a polyhedron model is obtained by triangular meshing the free surface.Then the Zmap method is applied to realize the extraction of coordinates and normal vectors of the painting node under the condition of equidistance painting.Thus,the painting nodes optimized by interpolating are connected to generate the spray-gun trajectory,and the spray-gun trajectory of free surface could be generated automatically.Finally,the spray-gun trajectory of auto CAD model is generated.

关 键 词：喷漆机器人 轨迹规划 多面体模型 Z-MAP 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.2[自动化与计算机技术—检测技术与自动化装置]