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| 喷涂机器人的喷枪轨迹优化设计与实验 | |
| 引用本文： | 陈伟,赵德安,梁震.喷涂机器人的喷枪轨迹优化设计与实验[J].中国机械工程,2011,22(17). |
| 作者姓名： | 陈伟 赵德安 梁震 |
| 作者单位： | 1. 江苏大学,镇江212013／江苏科技大学,镇江212003 2. 江苏大学,镇江,212013 3. 江苏科技大学,镇江,212003 |
| 基金项目： | 国家自然科学基金资助项目(60875052) |
| 摘 要： | 针对工件上涂层厚度均匀性与喷涂时间相互制约的问题,提出一种曲面上喷涂机器人喷枪轨迹优化设计方法。首先根据复杂曲面的几何特性,对曲面进行分片处理,求解每个曲面片上的喷涂速度和涂层重叠区域宽度的最优值;再利用无方向的连接图表示曲面上的喷枪轨迹优化组合问题,采用改进的粒子群算法进行求解。仿真和喷涂实验结果验证了算法的可行性和有效性。 |
| 关 键 词： | 机器人喷涂 轨迹优化 粒子群算法 喷涂实验 |
Design of Tool Path Planning of Robotic Spray Painting and Its Experiments |
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| Chen Wei, Zhao De'an Liang Zhen .Jiangsu University,Zhenjiang,Jiangsu, .Jiangsu University of Science , Technology.Design of Tool Path Planning of Robotic Spray Painting and Its Experiments[J].China Mechanical Engineering,2011,22(17). | |
| Authors: | Chen Wei Zhao De'an Liang Zhen Jiangsu University Zhenjiang Jiangsu Jiangsu University of Science Technology |
| Affiliation: | Chen Wei1,2 Zhao De'an1 Liang Zhen2 1.Jiangsu University,Zhenjiang,Jiangsu,212013 2.Jiangsu University of Science and Technology,212003 |
| Abstract: | A complex curved surface was divided into several patches and the trajectory planning for each patch was performed.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 was established.The trajectory integration problem can be modeled as the tool trajectory optimal integration,and a particle swarm optimization was advanced to solve the trajectory integration problem.Finally,the simulation and experimental results ill... |
| Keywords: | robotic spray painting trajectory optimization particle swarm optimization spray painting experiment |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |