Trajectory Optimization And Simulation Research Based On Robot Glazing

The application of glaze robot in the ceramic sanitary ware industry has greatly improved the production efficiency of ceramic sanitary ware.Optimization of robot glaze track is the main means to improve the quality of ceramic glaze.The research mainly realizes optimization simulation of robot glaze track from two aspects of optimization mathematical model and trajectory optimization algorithm.The main contents are as follows:1)Based on the analysis of the existing thickness accumulation rate model,based on the actual spray gun drawing and based on the elliptic double model,the coating accumulation rate model was studied.Based on the glaze layer thickness distribution rule of a single path on the plane,the glaze layer thickness mathematical model of two adjacent trajectories was deduced through MATLAB calculation.2)The surface model and glaze accumulation rate model and selection is an important component of the glazing trajectory optimization: surface model involves the point cloud data processing,through the study of the distribution of the scanning the point cloud data denoising,feature point extraction concise,smooth and aligned,such as processing,are suitable for optimized simulation model.3)The purpose of trajectory optimization is to obtain the glaze layer with uniform thickness distribution,and the overlap distance between adjacent glaze paths affects the uniformity of the glaze layer.The improved genetic algorithm and the least square method are used to calculate and optimize the overlap distance,so as to solve the ideal spraying interval.According to the normal vector information of the workpiece model,the Angle of spray gun is determined,and the path of applying glaze is planned on the premise that the spraying height and the speed of spray gun are constant.4)Taking a real object with obvious curvature change as the research object and taking the variance and minimum of actual glaze thickness and ideal thickness as the objective function,MATLAB was used to conduct optimization simulation of glaze track.The simulation results showed that the fluctuation of glaze thickness was within the allowable range of error,which verified the correctness of the optimization method.Taking the toilet with complicated surface structure as an example,the simulation was carried out according to the given optimization route to further verify the feasibility of the mathematical model and optimization algorithm.Figure 61;Table 4;Reference 58...