倾斜喷涂圆弧喷枪新模型的建立与轨迹优化

针对复杂自由曲面中犄角型曲面的喷涂机器人圆弧喷涂轨迹的优化和涂料浪费问题,基于已有的喷枪模型,运用微分几何面积放大定理建立了考虑涂料流量的倾斜喷涂圆弧喷枪新模型。并基于此模型对一具有外犄角特征的组合曲面进行了喷枪变向倾斜喷涂的轨迹规划,建立了喷涂轨迹优化目标函数。最后仿真实验验证了此模型和喷涂方案的有效性和可行性,为完善喷涂机器人离线编程系统提供了依据。

Arc Spray Gun New Model of Oblique Angle Spray and Trajectory Optimization

Aiming at the problem of arc trajectory optimization of a spray painting robot and paint waste for spraying horns surface of complex free-form surface, based on existing spray model , a new oblique angle arc model of spray gun that considered the paint flux was established by using principle of differential geometry of an area magnifying .The spray tool trajectory was planned and optimization function was proposed for a specific outer horn of combinatinal surface according to the new spray model .Finally simulation experiments illustrate that modeling method of oblique angle arc spraying and spray solutions have feasibility and availability , which also laid a foun-dation to perfect the off-line programming system of spray painting robot .