喷漆机器人喷枪轨迹设计及影响因素研究  

A Study on the Trajectory Design and Effect Factors for Robotic Spray Painting

作　　者：刁训娣[1,2] 赵德安[3] 李医民[1] 王燚[4] 

机构地区：[1]江苏大学理学院 [2]清华大学,北京100084 [3]浙江大学 [4]常熟高等专科学校

出　　处：《机械科学与技术》2004年第4期396-398,共3页Mechanical Science and Technology for Aerospace Engineering

基　　金：浙江大学CG&CAD国家重点实验室开放课题基金项目(A990 6) ;清华大学智能技术与系统国家重点实验室开放课题基金项目 ( 0 10 3 )资助

摘　　要：提出喷漆机器人喷枪轨迹设计的思路 ,建立评价喷涂效果的目标泛函 ,着重分析其影响因素 ,并以正方形工件为例对整个喷涂过程进行了计算机仿真。The off-line programming system for painting robot can result in significant cost savings.This paper first provides a framework for the trajectory design of spray gun and gives an objective function to estimate the coating effect.Its effect factors consist of:(a)offset between two paint strokes;(b)solutions of trajectory for spray gun;(c)paint flow flux with a solid cone and a hollow cone.Given the Parabolic paint flow rate distribution function,the optimal offsets between two paint strokes are computed.The optimal trajectory design is to determine a trajectory which results in minimal variation in accumulated film thickness on the surface of a workpiece while the paint thickness on the workpiece surface reach a certain characteristic and is kept uniform.They are generally formulated as a constrained variational problem.Standard nonlinear programming techniques are used to determine its solution.Finally,the operator simulates the process of trajectory on the square flat panel. Some results including average velocity trajectory and optimal trajectory on the condition of paint flow flux with a sold cone and a hollow cone are obtained, and evenness of coating is achieved.

关 键 词：β分布 轨迹优化 仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]