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| 面向复杂曲面的喷涂机器人喷枪轨迹优化 | |
| 引用本文： | 赵德安,陈伟,汤养. 面向复杂曲面的喷涂机器人喷枪轨迹优化[J]. 江苏大学学报(自然科学版), 2007, 28(5): 425-429 |
| 作者姓名： | 赵德安 陈伟 汤养 |
| 作者单位： | 1. 南京航空航天大学,自动化学院,江苏,南京,210016;江苏大学,电气信息工程学院,江苏,镇江,212013 2. 江苏大学,电气信息工程学院,江苏,镇江,212013 3. 江苏大学,理学院,江苏,镇江,212013 |
| 摘 要： | 根据试验数据推导出平面上的涂层累积速率二次函数后,对复杂曲面进行分片,在每一片上进行喷枪轨迹优化.为保证曲面上涂层厚度的均匀性,按照两片交界处喷枪路径的位置关系分三种情况讨论涂层厚度的计算方法和喷枪轨迹优化问题,并采用最速下降法和模式搜索法进行求解.通过计算机仿真验证了数学模型和优化算法的可行性,证明出当喷枪路径平行于两片的交界线时工件表面的涂层均匀性最佳. |
| 关 键 词： | 复杂曲面 喷涂机器人 轨迹优化 涂层厚度 曲面分片 复杂曲面 喷涂机器人 喷枪 轨迹优化问题 curved surfaces complex painting spray robotic optimization 最佳 涂层均匀性 工件表面 优化算法 数学模型 仿真验证 计算机 求解 模式搜索法 最速下降法 |
| 文章编号： | 1671-7775（2007）05-0425-05 |
| 修稿时间： | 2007-01-16 |
Trajectory optimization of robotic spray painting for complex curved surfaces |
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| ZHAO De-an,CHEN Wei,TANG Yang. Trajectory optimization of robotic spray painting for complex curved surfaces[J]. Journal of Jiangsu University:Natural Science Edition, 2007, 28(5): 425-429 | |
| Authors: | ZHAO De-an CHEN Wei TANG Yang |
| Affiliation: | 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, China; 2. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 3. Faculty of Science, Jiangsu University, Zhenjiang, Jiangsu 212013, China |
| Abstract: | After the material deposition rate function is provided according to the experiment data, a complex curved surface is divided into several patches and trajectory optimization for each patch is performed. In order to satisfy the material uniformity requirements, optimization algorithms of the three dif- ferent eases are developed to integrate the trajectories on the intersecting area of two patches. The steepest descent algorithm and pattern search method are adopted to optimize the parameters. The results of simulations have shown that the model and the tool planning algorithm are feasible. It is proved that the material thickness is quite uniform on the intersecting area when the paint gun paths are parallel to the intersection line. |
| Keywords: | complex curved surfaces robotic spray painting trajectory optimization material thickness partition surface |
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