摘要
根据试验数据给出了涂层生长速率模型,将自由曲面通过拓扑关系生成若干个平面片,在每一片上进行喷枪速率及轨迹间距的优化,基于面片交界处喷枪轨迹为PA-PA时涂层厚度均匀性较好的原则,根据面片的边界几何特征对喷枪路径进行了规划,提出了用变偏距的方法优化Z型路径模式,该方法通过选择两轨迹间的偏距极值及始末轨迹的长度来确定每相邻轨迹间的偏角来达到变偏距的目的,给出了其中参数的计算方法和优化算法。最后通过实例验证了该算法对Z型路径模式的优化具有一定的可行性。
A coating growth rate model is built according to the test data.A complex curved surface is divided into several patches and trajectory optimization for each patch is performed.Based on the good thickness uniformity principle when the tool trajectory is a path way of PA-PA（parallel-parallel） in the public side of the patch,we proposed a method of using variable distance to optimize the Z path mode and to plan the tool trajectory according to the boundary geometric feature.Finally,the algorithm is verified by an example of the Z path model optimization.
出处
《机械科学与技术》
CSCD
北大核心
2010年第5期675-679,共5页
Mechanical Science and Technology for Aerospace Engineering
关键词
复杂曲面
喷涂机器人
路径规划
变偏距
优化算法
complex curved surface
spray painting robot
path planning
variable distance
