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自由曲面噴漆機(jī)器人噴槍軌跡優(yōu)化
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    摘要:

    根據(jù)實(shí)驗(yàn)數(shù)據(jù)確定平面上的涂層累積速率二次函數(shù)后,建立了自由曲面上的漆膜厚度數(shù)學(xué)模型。在此基礎(chǔ)上生成噴漆機(jī)器人噴槍空間路徑,得出噴槍軌跡優(yōu)化設(shè)計(jì)是帶約束條件的多目標(biāo)優(yōu)化問題,并選取時間最小和漆膜厚度方差最小作為目標(biāo)函數(shù),應(yīng)用帶權(quán)無窮范數(shù)理想點(diǎn)法進(jìn)行求解。最后通過計(jì)算機(jī)仿真的結(jié)果,論證了數(shù)學(xué)模型和優(yōu)化算法的可行性。

    Abstract:

    Due to the complex geometry of free-form surfaces, generating paint gun optimization trajectories for free-form surfaces to satisfy paint thickness requirement is still a challenge. A quadratic function of the paint deposition rate on a plane was proposed according to the experimental data, and then a mathematical model of film thickness on a free-form surface was established. Instead of widely used parametric representation of surfaces, a planar facet scheme was used to obtain the painting surfaces approximately. A multi-objective constraint optimization problem was formulated for the trajectories optimization. An optimal tool trajectory with an optimal time and film quantity deviation was generated by the weighed ideal point approach. The generated trajectory was verified by the simulation results. The results show that the developed optimal tool planning algorithm can be applied to generate optimal tool trajectories.

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陳偉,趙德安,湯養(yǎng).自由曲面噴漆機(jī)器人噴槍軌跡優(yōu)化[J].農(nóng)業(yè)機(jī)械學(xué)報,2008,39(1):147-150.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(1):147-150.

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