Research On Optimization Of Tool Trajectory For Glazing Robot

In order to develop a spray-glazing robot, spraying trajectory generating and optimization were discussed for the off-line programming of spray-glazing robot. The direct kinematics of robot joints and the formation of glaze coating thickness were simulated simultaneously. The major work is as follows:1. The spray gun’s trajectory generating and optimization for glazing robot were studied based on the ellipse dual-P model. The thickness distribution of glazing coating on typical surfaces and combinatorial surfaces was solved with analytical and simulation method respectively, a universal algorithm was provided based on the dynamic glazing simulation for thickness distribution. The program was programmed.2. The nonlinearity optimization model was provided with the shortest time as optimization goal and the evenness of coating thickness as constraint, and then solved by GA. The optimization results were verified on the simulation platform.3. The robot kinematics equation was established by the D-H method for a spray-glazing robot which was designed by our team. Furthermore, the workspace of the robot and the position error of the robot’s end were analyzed by the robot kinematics equation.