复杂曲面上机器人自动喷涂路径规划方法

针对目前含有岛屿或空洞的复杂曲面上机器人喷涂路径规划中存在的问题,提出一种能够保持轮廓平行的机器人喷涂路径设计方法。利用最小二乘坐标映射原理,将被喷涂曲面映射到二维平面域,建立目标曲面与二维平面域之间的一一映射关系,然后对平面映射域的内外边界进行连续偏置,构造能够保持轮廓平行的二维偏置曲线;进而以被喷涂曲面到二维平面域的坐标映射为向导,将无干涉二维偏置曲线逆映射到被喷涂曲面上，生成能够保持轮廓平行的喷涂路径，实现多岛屿或空洞复杂曲面上三维喷绘路径设计到二维平面的降维处理。实例仿真实验结果表明，所提方法简单实用，可在含有岛屿或空洞的复杂曲面上快速地生成能够保持轮廓平行的机器人喷涂路径。

A Method for Generating Robot Spraying Paths on Complex Surfaces with Islands

A method  for generating robot spraying paths on complex surface with islands was proposed  by using the coordinate mapping theory which  was  used to flatten the sprayed  surface  onto  a plane.On  this plane,the spray points were calculated  by iteratively offsetting the  inner and outer boundaries of the planar surface.Then,using the mapping from the sprayed surface  to the planar region as a guide,the planar offset curves without self-intersections  were  mapped onto the sprayed surface inversely,thus forming the resulting contour-parallel  spraying paths.Benefiting the mapping of  the sprayed surface to the planar region,the task  of  generating the spaying paths was simplified  from is reduced from 3D surface to 2D plane,geometric computations related to spraying  path generation were  considerably  reduced,especially for self-intersection elimination of offset path. Finally, the proposed method was tested on several sample surfaces and is shown that it can generate contour-parallel spraying paths for complex surfaces nicely,especially for those with holes or islands.