面向犄角型曲面的喷涂机器人喷涂轨迹优化  

Tool trajectory optimization of spray painting robot for horns surface

作　　者：曾勇[1,2] 龚俊[3] 许宁[2] 吴乃领[1] 王福元[1] 赵世田[1] 

机构地区：[1]盐城工学院机械工程学院,江苏盐城224051 [2]盐城工学院江苏省新型环保重点实验室,江苏盐城221051 [3]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《浙江大学学报（工学版）》2014年第5期791-798,共8页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目(51165022);江苏省新型环保重点实验室开放课题基金资助(AE201322);江苏省大型工程装备检测与控制重点建设实验室开放课题资助(JSKLEDC201303)

摘　　要：针对喷涂内外犄角型曲面时的涂层均匀度和涂料浪费问题,提出一种基于倾角喷涂的轨迹优化方法.运用微分几何原理建立倾角喷涂模型,并根据喷涂时喷枪位姿由倾角至垂直的过渡方式,将问题分解为直接过渡和间接过渡2种情况进行讨论,以涂层均匀度和涂料利用率为优化目标,分别给出2种情况下的轨迹优化算法,仿真实例验证所提模型和算法的可行性及有效性.仿真结果表明,内犄角表面采用直接过渡方式喷涂能够获得较好的涂层均匀度;外犄角表面采用间接过渡方式喷涂,在保证涂层均匀度要求的同时,能够最大限度地减少涂料的浪费.In order to solve the problems of poor coating quality and paint waste for spraying inner/outer horns surface, a tool trajectory optimization method was proposed based on dip angle spray. The dip spray model was constructed by principle of differential geometry. According to the tool orientation of the transition mode from slant to vertical, the trajectory optimization problem was divided into two cases which are direct transition and indirect transition. For the optimization goals of coating uniformity and coating utilization, the trajectory optimization algorithms were given respectively for two cases. The simulation results illustrated the feasibility and availability of these optimization models and algorithms. Simulation results show that, in-horn surface spraying adopts the direct transition method can get good thickness uniformity, out-born surface spraying by indirect transition way, at the same time of guarantee thickness uniformity requirements ,can minimize the paint waste.

关 键 词：犄角型曲面 喷涂机器人 倾角 轨迹优化 优化算法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]