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復(fù)雜曲面的噴涂機器人噴槍軌跡優(yōu)化與試驗
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國家自然科學(xué)基金資助項目（60875052）


Tool Trajectory Planning of Robotic Spray Painting and Its Experiment for Complex Curved Surfaces
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    摘要:

    對復(fù)雜曲面進行分片后，以實際涂層厚度與理想涂層厚度方差為目標(biāo)函數(shù)，采用黃金分割法求解涂層重疊區(qū)域?qū)挾鹊淖顑?yōu)值。為提高噴涂效率，利用無方向的連接圖表示曲面上的噴槍軌跡優(yōu)化組合問題，采用改進的蟻群算法進行求解。仿真結(jié)果表明，蟻群算法的全局性和收斂速度都能達到滿意的效果。噴涂試驗中，采用三角網(wǎng)格劃分法對復(fù)雜曲面工件進行造型，優(yōu)化后的噴涂軌跡不僅能夠滿足涂層均勻性要求，而且噴涂時間節(jié)約了20%。

    Abstract:

    A complex curved surface was divided into several patches and trajectory planning for each patch was performed. The trajectory integration problem can be modeled as the tool trajectory optimal integration problem (TTOI), and an ant colony algorithm was advanced to solve the TTOI. Simulations were carried out on the automotive body parts and the results validated the proposed algorithm. And a workpiece with a complex curved surface was used to test the scheme. The results of the experiments showed that the trajectory optimization algorithm achieved satisfactory performance, and the time of robotic spray painting saved 20%.

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陳偉,趙德安,李發(fā)忠.復(fù)雜曲面的噴涂機器人噴槍軌跡優(yōu)化與試驗[J].農(nóng)業(yè)機械學(xué)報,2011,42(1):204-208. Chen Wei, Zhao Dean, Li Fazhong. Tool Trajectory Planning of Robotic Spray Painting and Its Experiment for Complex Curved Surfaces[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(1):204-208.

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