面向大曲率组合曲面的喷涂机器人喷枪轨迹组合与连接问题研究  

Study on Trajectory Combination and Connection Problems of Spray-painting Robot for Large Curvature Combination Surfaces

作　　者：张鹏[1] 龚俊[1] 宁会峰[1] 李玉洋[1] 魏丽娜[1] ZENG Yong LIU Yaju 

机构地区：[1]兰州理工大学机电工程学院,甘肃兰州730050

出　　处：《四川大学学报（工程科学版）》2016年第4期217-222,共6页Journal of Sichuan University (Engineering Science Edition)

基　　金：国家自然科学基金资助项目(51165022);甘肃省自然科学基金资助项目(145RJZA028)

摘　　要：针对喷涂机器人在大曲率组合曲面的面片上喷枪轨迹间的组合与连接问题,结合曲面拟合理论与喷枪建模方法,建立喷枪轨迹优化模型,提出一种满足大曲率组合曲面上喷枪轨迹首尾衔接的算法程序。首先,基于曲面拟合理论将大曲率组合曲面转换为自然二次曲面面片组合,建立涂层增长模型,对组合曲面上不同类型自然二次曲面面片交界处的喷枪轨迹进行优化;其次,基于该模型运用交换子和交换序列的思想,设计出实现喷涂大曲率组合曲面的喷枪轨迹组合与连接的新算法,并编写相应的算法程序,实现喷涂轨迹的全局优化;最后,通过某一种汽车外壳的喷涂实验,验证了模型的有效性和算法程序的可行性,实现了对大曲率组合曲面的连续性喷涂。To solve the problem of trajectory combination and connection of spraying robot for large curvature combination surfaces, combined with surface fitting theory and modeling method of spray gun,the trajectory optimization model of spray gun was established,and the algorithmic program was put forward to satisfy the spray gun trajectory from beginning to end. First,the large curvature of composite surface was transformed to natural quadric combination curved surface patches with the theory of surface fitting. Based on the coating growth model built,the trajectory was optimized for the natural quadrie juncture of different types. Secondly,based on the model and the idea of exchange and the exehange of the sequence,the new algorithm wa~. designed to solve the problem of trajectory combination. The corresponding algorithm program was written to realize the global optimization of spray trajectory. Finally,the validity of the model and the feasibility of the algorithm were verified by the spraying experiment of a certain kind of ear shell. The continuous spraying large curvature composite surface was realized.

关 键 词：大曲率曲面 轨迹优化 轨迹连接 喷涂机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]