| 大型复杂曲面喷漆机器人喷枪轨迹优化研究 |
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| 引用本文： | 陈伟,徐建中. 大型复杂曲面喷漆机器人喷枪轨迹优化研究[J]. 机械设计与制造, 2009, 0(2) |
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| 作者姓名： | 陈伟 徐建中 |
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| 作者单位： | 江苏科技大学,电子信息学院,镇江,212013;海军驻芜湖地区军事代表室,芜湖,241001 |
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| 基金项目： | 江苏省高技术研究项目 |
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| 摘 要： | 根据实验数据推出平面上漆膜累积速率二次函数后,对大型复杂曲面进行分片,在每一片上进行喷漆机器人喷枪轨迹优化.按照两片交界处喷枪路径的位置关系,分三种情况讨论漆膜厚度的计算方法和喷枪轨迹优化问题,采用最速下降法和模式搜索法进行求解.最后通过计算机仿真验证了优化算法的可行性.
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| 关 键 词： | 大型复杂曲面 喷漆机器人 漆膜厚度 |
Trajectory optimization of spray painting robot for large complex curved surfaces |
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| CHEN Wei,XU Jian-zhong. Trajectory optimization of spray painting robot for large complex curved surfaces[J]. Machinery Design & Manufacture, 2009, 0(2) |
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| Authors: | CHEN Wei XU Jian-zhong |
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| Affiliation: | 1School of Electronics and Information;Jiangsu University of Science and Technology;Zhenjiang 212013;China;2The Martial Agency of Navy at Wuhu;Wuhu 241001;China |
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| Abstract: | After the material deposition rate function is provided according to the experiment data,a large complex curved surface has to be divided into several patches and trajectory optimization for each patch is performed.In order to satisfy the material uniformity requirements,optimization algorithms of the three different cases are developed to integrate the trajectories on the intersecting area of two patches.The steepest descent algorithm and pattern search method are adopted to optimize the parameters.The res... |
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| Keywords: | Large complex curved surfaces Spray painting robot Material thickness |
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