圆锥面组合曲面的喷涂机器人喷枪轨迹优化

为解决圆锥面组合特征曲面喷枪轨迹优化时涂层均匀性较差的问题,根据圆锥面的几何特点,给出了 圆锥面上的喷枪轨迹生成方法.基于喷枪3D模型在圆锥面上的喷枪轨迹优化方法,讨论了圆锥面组合时面片交 界处的喷涂轨迹优化方法,建立优化目标函数,并优化了相关的喷枪参数.仿真结果表明:优化后的涂层厚度满 足涂层质量要求;与一般方法相比,其涂层厚度最大值、最小值与理想值间的误差分别降低0.4和1.0m;同向 面片组合时的涂层厚度最大值、最小值与理想值间的误差比反向时的误差分别降低0.8和1.4m. 

Tool Trajectory Optimization of Spray Painting Robot for Composite Conical Surfaces

In order to solve the problem of poor coating uniformity of composite conical surfaces in tool trajectory optimization,a spray tool trajectory generation method was proposed according to the geometrical characteristics of conical surfaces.Using the spray trajectory optimization method that is based on the 3D model of a spray tool for conical surfaces,the tool trajectory optimization at the junction of the combined conical surfaces was discussed.Then,optimal objective functions were established to optimize the spray parameters.Simulation results show that the coating thickness after optimization meets the coating requirement.Compared with the general method,the proposed method can reduce the error of coating thickness between the maximal and ideal values by 0.4 μm,and reduce the error between the minimal and ideal values by 1.0 μm.In addition,the above errors are 0.8 and 1.4 μm less in combination of synclastic patches than those in combination of inverted patches.