摘要
针对复杂自由曲面匀速和等行程间距喷涂方法,因曲面上曲率的变化会造成涂层厚度差较大的问题,提出一种基于CAD的轨迹优化算法以提高曲面的漆膜厚度一致性。该方法首先根据平面上的喷涂试验和微分几何的面积放大定理推导出曲面上的漆膜生长模型;然后通过扫描直接获得工件表面点云模型,采用点云切片技术获取喷枪路径和姿态;最后采用沿路径方向的速率优化算法和垂直路径方向的间距优化算法对曲面上的喷枪轨迹进行优化。仿真和试验结果验证了优化算法的有效性和轨迹生成算法的可行性。
Due to the complex geometry of free-form surfaces,the generating optimization trajectories of spray gun satisfy the requirement of uniformity paint became a challenge.A quadratic function of the paint deposition rate on a plane was proposed according to the experimental data,and a model of paint deposition rate on a free-form surface was established.The point cloud model was obtained directly by scanning the surface of workpiece,and the position and pose of spray gun was obtained by point cloud slicing technique.The change of the surface curvature caused non-uniform paint deposition on freeform surface.An algorithm of variable spray speed optimization was established to compensate for the curvature change and improve the uniformity of paint deposition along passes.An algorithm for selecting the spacing between the passes was established to improve the deposition uniformity vertical to passes,and to reduce cycle time and paint waste.Finally,the simulation and experimental results illustrated the feasibility and availability of these optimization algorithms.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2010年第5期213-217,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(60875052)
江苏大学高级人才科研基金资助项目(06JDG033)
关键词
喷涂机器人
轨迹优化
点云切片
试验
Spray painting robot
Trajectory optimization
Point cloud slicing
Experiment
