摘要
基于大曲率复杂自由曲面可被分片造型成若干个近似平面、圆柱面、圆锥面和球面组合的思想,文中分别针对平面、圆柱面,圆锥面、球面等不同规则化曲面的喷涂轨迹优化进行研究。首先根据平面的静态喷涂模型分别建立圆柱面、圆锥面、球面的喷涂模型,并以涂层均匀性为优化目标求解优化的路径参数,喷枪速度v和喷涂间距d,在此基础上分别给出针对平面、圆柱面、圆锥面、球面的喷枪轨迹的生成算法。最后通过仿真验证了所提方法的有效性、正确性。
Complex free-form surfaces with high curvature can be segmented into several approximate plane,cylindrical surface,conical surface and spherical surface. Based on this idea,study on spray path planning for standardized workpiece,such as plane,cylindrical surface,conical surface,spherical surface. Firstly,according to static spray model of plane,establish the spray model of cylindrical surface,conical surface,spherical surface respectively,and taking coating uniformity as optimization target,solve the optimized path parameter of the painting velocity and stroke distance,then based on this,respectively give the generated algorithm of trajectory for plane,cylindrical surface,conical surface,spherical surface. Finally,the effectiveness and correction of the proposed method is verified by simulation.
出处
《计算机技术与发展》
2015年第3期6-10,共5页
Computer Technology and Development
基金
国家重大科技专项基金资助项目(2010ZX04008-041)
关键词
喷涂机器人
轨迹规划
圆柱面
圆锥面
球面
仿真
spray painting robot
path planning
cylindrical surface
conical surface
spherical surface
simulation
