面向直纹组合曲面的喷涂机器人喷枪轨迹优化与算法

针对复杂自由曲面中直纹组合曲面上喷涂机器人喷枪轨迹优化及轨迹连接问题，基于曲面面片造型与智能算法理论，建立了喷枪轨迹优化数学模型，提出一种满足直纹曲面上喷枪轨迹首尾衔接的算法程序。首先，通过曲面特征定义直纹曲面，并对直纹曲面造型处理后建立复合喷涂直纹圆弧面片的喷枪数学模型；其次，选择直纹组合面片交界处的喷枪轨迹为优化对象，依据该模型对直纹曲面及直纹组合面片上的喷枪轨迹进行优化，验证了该模型的有效性；最后，依据轨迹优化模型，设计算法程序并通过仿真实验，验证了该算法程序的可行性与优越性，实现了对直纹组合曲面的连续性喷涂。

Study on Trajectory Optimization and Algorithm of Spray-painting Robot for Ruled Combination Surfaces

To solve the problem of trajectory optimization and connection of painting robot for complex geometry on the free-form surfaces, based on the combined surface of ruled surfaces, the mathematical model of the spray gun trajectory optimization was established, meanwhile a kind of algorithm procedure to solve the problem of trajectory connection to spray painting robot on combined surface of ruled surfaces was designed according to the theory of curved surface modeling and intelligent algorithm. Firstly, according to surface character, the ruled surface and the paint gun mathematical model for complex geometry on free-form patches was established. Secondly, the selected juncture between combined surfaces of ruled surface was optimization by the paint gun model. The effectiveness of above model was verified. Finally, besed on the model, the algorithm program was devised. The simulation tests have verified the validity and feasibility of the trajectory optimization. The continuity spraying of combined surface of ruled surfaces was realized.