船舶工业机器人曲面喷涂喷枪轨迹离线规划

摘要

Taking painting velocity,spray gun standoff and trajectory pitch as optimization objectives,establishing film thickness distribution model for trajectory planning on curved surfaces.Considering the surfaces to be painted,setting film thickness uniformity as optimization goal,using particle swarm optimization(PSO) algorithm to optimize the objects.Fitting the surfaces with non-uniform rational B-spline (NURBS),generating painting passes by NURBS control points.Combining optimal objects with painting passes,the trajectory for painting process on curved surface can be obtained finally.By analyzing the results of painting simulation on prow,planar,concave,convex and S type surface,the validity and effectiveness of offline trajectory planning method for spray painting robot were verified.%以喷涂速度、喷涂高度和轨迹间距为优化对象,建立曲面漆膜厚度分布模型,结合曲面外形,以漆膜厚度最均匀为优化目标,以粒子群算法为优化算法获取最优喷涂参数组合;运用非均匀有理B样条(NURBS)技术拟合曲面,利用曲面控制顶点生成喷枪路径,结合路径与最优喷涂参数组合得到曲面喷涂轨迹.通过对船首外表面及平面、凹曲面、凸曲面、S型曲面的仿真分析,验证了喷涂机器人曲面喷涂喷枪轨迹离线规划方法的可行性和有效性.