| 喷涂机器人自动轨迹规划研究进展与展望 |
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| 引用本文： | 陈雁,邵君奕,张传清,刘宗政,陈恳.喷涂机器人自动轨迹规划研究进展与展望[J].机械设计与制造,2010(2). |
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| 作者姓名： | 陈雁 邵君奕 张传清 刘宗政 陈恳 |
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| 作者单位： | 1. 清华大学精密仪器与机械学系,北京,100084;清华大学摩擦学国家重点实验室,北京,100084;后勤工程学院军事供油工程系,重庆,400016
2. 清华大学精密仪器与机械学系,北京,100084;清华大学摩擦学国家重点实验室,北京,100084 |
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| 摘 要： | 喷涂自动轨迹规划是以喷枪涂料沉积模型、工件表面CAD模型、约束条件和优化准则为基础,利用最优轨迹规划器自动生成喷枪轨迹。简介了喷涂自动轨迹规划的发展历程,分析了高斯分布模型、贝它分布模型、分析沉积模型、工件表面建模方法和优化准则,详细综述了最优轨迹规划器的研究进展,分析了目前自动轨迹规划研究存在的难点问题,并展望了自动轨迹规划的未来发展。
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| 关 键 词： | 喷涂机器人 自动规划 最优轨迹 示教法 |
Developments and prospects of research on automatic trajectory planning for painting robot |
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| CHEN Yan,SHAO Jun-yi,ZHANG Chuan-qing,LIU Zong-zheng,CHEN Ken.Developments and prospects of research on automatic trajectory planning for painting robot[J].Machinery Design & Manufacture,2010(2). |
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| Authors: | CHEN Yan SHAO Jun-yi ZHANG Chuan-qing LIU Zong-zheng CHEN Ken |
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| Affiliation: | 1 Department of Precision Instruments and Mechanology/a>;Tsinghua University/a>;Beijing 100084/a>;China;2 The State Key Laboratory of Tribology/a>;China;3 Department of Petroleum Supply Engineering/a>;Logistical Engineering University/a>;Chongqing 400016/a>;China |
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| Abstract: | Automatic trajectory planning for spray painting is a method of automatically generating optimal spray gun trajectory based on paint deposition model,work piece surface model,optimization criterion,and constraints by optimal trajectory planner. The researching history of automatic trajectory planning for spray painting is introduced briefly. Afterwards,Gauss distribution model,beta distribution model,analytic deposition model,modeling for work piece surface,optimization criterion etc. are analyzed. In addit... |
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| Keywords: | Painting robot Automatic planning Optimal trajectory Teaching method |
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