摘要
针对喷涂机器人自动轨迹规划过程中喷涂质量低的问题,对平面喷涂物体的轨迹规划问题进行了研究。利用椭圆双β模型构建平面双道喷涂厚度累积模型,以喷涂厚度的理论值和实际值之间的方差作为目标函数,结合粒子群算法进行相应的优化求解,并与其他优化方法进行对比,证明了粒子群算法对喷涂质量进行优化的有效性,具有一定的指导意义。
Aiming at the problem of low spraying quality in the process of automatic trajectory planning of spraying robots,the trajectory planning problem of plane spraying objects is studied accordingly.The elliptical doubleβmodel is used to construct a plane double-pass spraying thickness accumulation model,and the variance between the theoretical and actual spraying thickness is used as the objective function,and the particle swarm algorithm is used to optimize the solution.Compared with other optimization methods,it proves the effectiveness of particle swarm optimization to optimize the spraying quality,which has certain guiding significance.
作者
蔺梦圆
唐倩
李戈
罗育洋
李燚
范秋垒
杨爱平
张鹏辉
LIN Mengyuan;TANG Qian;LI Ge;LUO Yuyang;LI Yi;FAN Qiulei;YANG Aiping;ZHANG Penghui(State Key Laboratory of Mechanical Transmissions,Chongqing University,Chongqing 400044,China;China Shipbuilding Industry Corporation Changjiang Science and Technology Co.,Ltd.,Chongqing 404130,China)
出处
《机械工程师》
2021年第6期25-27,30,共4页
Mechanical Engineer
基金
重庆市技术创新与应用发展专项重点项目“喷涂机器人研发及应用”(cstc2019jscx-fxydx0080)。
关键词
喷涂轨迹规划
椭圆双β模型
粒子群算法
spraying trajectory planning
ellipse doubleβmodel
particle swarm algorithm
