基于遗传算法的双层喷涂自动轨迹规划  

Automated robot trajectory planning for double-layer spray painting based on genetic algorithm

作　　者：卢晓冬 唐倩[1] 蒋敏 熊浩 宋军 黄耀 LU Xiaodong;TANG Qian;JIANG Min;XIONG Hao;SONG Jun;HUANG Yao(State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044,China;AVIC Chengdu Aircraft Industrial(Group)Co.,Ltd.,Chengdu 610092,China)

机构地区：[1]重庆大学机械传动国家重点实验室,重庆400044 [2]成都飞机工业(集团)有限责任公司,610092

出　　处：《计算机集成制造系统》2018年第9期2157-2167,共11页Computer Integrated Manufacturing Systems

基　　金：国家科技支撑计划资助项目(2015BAF17B02);2015年智能制造专项资助项目~~

摘　　要：针对表面喷涂技术的涂层均匀性问题,在椭圆双β模型的基础上,运用微分投影法,建立了一个考虑喷涂距离的立体涂层累积速率模型,并提出一种双层喷涂自动轨迹规划方法。该方法以第一层喷涂的重叠宽度,喷涂速度和第二层喷涂的喷涂距离、喷涂速度为变量,以喷涂后各点厚度值与理想值的方差为目标函数进行优化,并采用遗传算法进行求解。通过在平面以及圆柱面上的仿真分析,证明了双层喷涂相比于单层喷涂在喷涂均匀性上的提升。通过喷涂实验,验证了该方法的可行性和有效性。Aiming at the uniformity of spray painting technology,based on the ellipse dual-βspraying model,a 3D coating accumulation rate model considering the distance between spray gun and workpiece surface was proposed with differential projection method,and a new automated robot trajectory planning method for double-layer spray painting was developed.In this method,the overlapping width between adjacent paths of first layer,the spray gun speed of first layer,the distance between spray gun and workpiece surface of second layer were taken as the optimization parameters,the coating thickness uniformity as the optimization goal function to make optimization,and the genetic algorithm was used to solve.According the simulation results of this method,the uniformity of coating thickness could be improved effectively on the flat and cylindrical surface,and the results of spray experiments had verified the feasibility and the effectiveness of method.

关 键 词：轨迹规划 表面喷涂 遗传算法 均匀性 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]