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圆锥面组合曲面的喷涂机器人喷枪轨迹优化

曾勇,  龚俊,  杨东亚,  宁会峰

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文章导航 > 西南交通大学学报  > 2012 >  25(1): 97-103.
曾勇, 龚俊, 杨东亚, 宁会峰. 圆锥面组合曲面的喷涂机器人喷枪轨迹优化[J]. 西南交通大学学报, 2012, 25(1): 97-103. doi: 10.3969/j.issn.0258-2724.2012.021.01.016
引用本文: 曾勇, 龚俊, 杨东亚, 宁会峰. 圆锥面组合曲面的喷涂机器人喷枪轨迹优化[J]. 西南交通大学学报, 2012, 25(1): 97-103. doi: 10.3969/j.issn.0258-2724.2012.021.01.016
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ZENG Yong, GONG Jun, YANG Dongya, NING Huifeng. Tool Trajectory Optimization of Spray Painting Robot for Composite Conical Surfaces[J]. Journal of Southwest Jiaotong University, 2012, 25(1): 97-103. doi: 10.3969/j.issn.0258-2724.2012.021.01.016
Citation: ZENG Yong, GONG Jun, YANG Dongya, NING Huifeng. Tool Trajectory Optimization of Spray Painting Robot for Composite Conical Surfaces[J]. Journal of Southwest Jiaotong University, 2012, 25(1): 97-103. doi: 10.3969/j.issn.0258-2724.2012.021.01.016
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圆锥面组合曲面的喷涂机器人喷枪轨迹优化

doi: 10.3969/j.issn.0258-2724.2012.021.01.016
基金项目: 

国家自然科学基金资助项目(51165022)

详细信息
    作者简介:

    曾勇(1982-),男,讲师,博士,研究方向为面向大曲率复杂自由曲面的喷涂机器人喷枪轨迹优化关键技术,E_mail:zengzhong188@126.com

Tool Trajectory Optimization of Spray Painting Robot for Composite Conical Surfaces

    摘要
  • 摘要: 为解决圆锥面组合特征曲面喷枪轨迹优化时涂层均匀性较差的问题,根据圆锥面的几何特点,给出了 圆锥面上的喷枪轨迹生成方法.基于喷枪3D模型在圆锥面上的喷枪轨迹优化方法,讨论了圆锥面组合时面片交 界处的喷涂轨迹优化方法,建立优化目标函数,并优化了相关的喷枪参数.仿真结果表明:优化后的涂层厚度满 足涂层质量要求;与一般方法相比,其涂层厚度最大值、最小值与理想值间的误差分别降低0.4和1.0m;同向 面片组合时的涂层厚度最大值、最小值与理想值间的误差比反向时的误差分别降低0.8和1.4m.

     

    Abstract: In order to solve the problem of poor coating uniformity of composite conical surfaces in tool trajectory optimization, a spray tool trajectory generation method was proposed according to the geometrical characteristics of conical surfaces. Using the spray trajectory optimization method that is based on the 3D model of a spray tool for conical surfaces, the tool trajectory optimization at the junction of the combined conical surfaces was discussed. Then, optimal objective functions were established to optimize the spray parameters. Simulation results show that the coating thickness after optimization meets the coating requirement. Compared with the general method, the proposed method can reduce the error of coating thickness between the maximal and ideal values by 0.4 m, and reduce the error between the minimal and ideal values by 1.0 m. In addition, the above errors are 0.8 and 1.4 m less in combination of synclastic patches than those in combination of inverted patches.

     

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  • 　ATKAR P N, CHOST H, RIZZI A. Towards optimal coverage of 2-dimensional surfaces embedded in IR3: choice of start curve[C]∥Proceedings of the 2003 IEEE /RSJ International Conference on Intelligent Robots and Systems. Las Vegas： [s.n., 2003: 3581-3587. 　　　　　 [2]　CONNER C D, GREENFIELD A, ATKAR N P, et al. Paint deposition modeling for trajectory planning on automotive surfaces[J]. IEEE Transactions on Automation Science and Engineering, 2005, 2(4): 381-392. 　　　　　 [3]　SHENG Weihua, CHEN Heping, XI Ning. Tool path planning for compound surfaces in spray forming processes[J]. Automation Science and Engineering, 2005, 2(6): 240-249. 　　　　　 [4]　CHEN Heping, XI Ning. Automated tool trajectory planning of industrial robots for painting composite surfaces[J]. International Journal of Advanced Manufacturing Technology， 2008, 35: 680-696. 　　　　　 [5]　CHEN Heping, THOMAS F, LI Xiongzi. Automated Industrial robot path planning for spray painting process: a review[C]∥4th IEEE Conference on Automation Science and Engineering. Washington D C：[s.n., 2008: 522-527. 　　　　　 [6]　陈伟,赵德安,汤养. 自由曲面喷漆机器人喷枪轨迹优化[J]. 农业机械报,2008,39(1): 147-150. 　　　　　CHEN Wei, ZHAO Dean, TANG Yang. Trajectory optimization on robotic spray painting of free-form surfaces[J]. Transactions of the Chinese Society of Agricultural Machinery, 2008, 39(1): 147-150. 　　　　　 [7]　李发忠,赵德安,张超,等. 基于CAD的喷涂机器人轨迹优化[J]. 农业机械报,2010,41(5): 213-217. 　　　　　LI Fazhong, ZHAO Dean, ZHANG Chao, et al. Trajectory optimization of spray painting robot based on CAD[J]. Transactions of the Chinese Society of Agricultural Machinery, 2010, 41(5): 213-217. 　　　　　 [8]　李发忠,赵德安,姬伟,等. 喷涂机器人空间轨迹到关节轨迹的转换方法[J]. 农业机械学报,2010,41(11): 198-201. 　　　　　LI Fazhong, ZHAO Dean, JI Wei, et al. Conversion method from cartesian space trajectory to joint trajectory of spray painting robot[J]. Transactions of the Chinese Society of Agricultural Machinery, 2010, 41(11): 198-201. 　　　　　 [9]　曾勇,龚俊,陆保印. 面向直纹曲面的喷涂机器人喷枪轨迹优化[J]. 中国机械工程,2010,21(17): 2083-2089. 　　　　　ZENG Yong, GONG Jun, LU Baoyin. The trajectory optimization of spray painting robot for ruled surface[J]. China Mechanical Engineering, 2010, 21(17): 2083-2089. 　　　　　 [10]　ZENG Yong, GONG Jun, SUN Tao. Based on least square method for spray partition of complex curved surface[J]. Advanced Materials Research, 2011， 201-203: 1955-1959. 　　　　 [11]　曾勇,龚俊. 面向自然二次曲面的喷涂机器人喷枪轨迹优化[J]. 中国机械工程,2011,22(3): 282-290. 　　　　ZENG Yong, GONG Jun. The trajectory optimization of spray painting robot for natural quadric surface[J]. China Mechanical Engineering, 2011, 22(3): 282-290. 　　　　 [12]　ZENG Yong, GONG Jun. Optimizing material distribution for complex curved surface in integrated trajectory optimization of spray painting processes[C]∥The International Conference on Electrical and Control Engineering. Wuhan： [s.n., 2010: 1446-1448. 　　　　 [13]　ZENG Yong, GONG Jun. The trajectory optimization of spray painting robot for conical surface[J]. Advanced Materials Research, 2010, 139/140/141: 2189-2194.
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出版历程
  • 收稿日期:  2011-02-01
  • 刊出日期:  2012-02-25

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