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

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

更新时间：2023-11-14

- Study on Trajectory Combination and Connection Problems of Spray-painting Robot for Large Curvature Combination Surfaces
- Advanced Engineering Sciences Vol. 48, Issue 4, Pages: 217-222(2016)
- 作者机构：
  
  兰州理工大学
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2016，
  
  Published Online：18 January 2016，
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张鹏.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[J].工程科学与技术,2016,48(4):217-222.

zhangpeng. Study on Trajectory Combination and Connection Problems of Spray-painting Robot for Large Curvature Combination Surfaces. [J]. Advanced Engineering Sciences 48(4):217-222(2016)
张鹏.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[J].工程科学与技术,2016,48(4):217-222. DOI：

zhangpeng. Study on Trajectory Combination and Connection Problems of Spray-painting Robot for Large Curvature Combination Surfaces. [J]. Advanced Engineering Sciences 48(4):217-222(2016) DOI：

摘要

中文摘要: 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。

Abstract

Abstract:Abstract: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 quadric juncture of different types. Secondly

based on the model and the idea of exchange and the exchange of the sequence

the new algorithm was 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 car 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

Keywords

Large curvature surfacestrajectory optimizationTrajectory connectionSpraying robot

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Related Institution

School of Mechatronics Eng., Henan Univ. of Sci. and Technol.

Henan Provincial Key Lab. of Robotics and Intelligent Systems

Collaborative Innovation Center of Machinery Equipment Advanced Manufacturing of Henan Province

The First Affiliated Hospital of Henan Univ. of Sci. and Technol.

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