The Research On The Spray Tool Trajectory Optimization Of Painting Robot For Large And Complex Free-form Curved Surface

Be aimed at the problem that spray tool trajectory optimization for large complexfree-form curved surface, separately from the spray tool modeling and its application, thepartition of large curvature complex free-form curved surface, the spray tool trajectoryoptimization for natural quadric surface and the combinatorial optimization of spray tooltrajectory for complex curved surface to study it. The key algorithms of spray tool3Dmodeling and improve the coating thickness uniformity of large curvature complex free-formcurved surface and the spray effect of complex free-form curved surface are investigated anddeveloped.The main structure and technical route of off-line programming system for painting robotare introduced in this paper. The key research content is proposed that module of spray tooltrajectory optimization.Based on a group of spray glaze experimental data, the method of spray tool modelingand its application are discussed. Quadratic spline is used to describe coating growth on aplane and the coating thickness expressions are developed within unit time when spray on aplane and on an arc surface. The inconsistent reason of coating thickness is analysed on planeand arc surface, the consistent optimization method of coating thickness is given. Because theapplied complexity of this tool model, the least-square curve fitting method is used togenerate a β distributed model which improves its practicability, the fitting algorithm isdeveloped and the spray tool model is used to tool trajectory optimization on a plane.The partition of large curvature free-form curved surface and the method of tooltrajectory generation are studied. First, combination with spray radius and topological method,the extraction of large curvature features surface from free-form surface is developed. Than,the least square method is used to fit big curvature surfaces and natural quadric surface oflarge area, leveling shape is generated. The method is proposed that the amendatoryGauss-Newton is used to solve nonlinear least squares problem. The modeling algorithm oflarge curvature surfaces and the partition planning algorithm of a free-form surface are given.Finally, the generatrix of natural quadric surface is used to planning the tool trajectory on it.The method of tool trajectory optimization that improves coating uniformity is studied.Based on a existing spray tool2D model, the geometry enlarge theorem is used to develop thespray tool3D model on natural quadric surface and use it to establish optimization objectivefunction of tool trajectory along designated path. The golden section method and feasibledirection method are used to solve optimization problems. Based on the PA-PA principle, themethod that combine optimze spray radius with optimize tool trajectory parameters isproposed to optimize the tool trajectory which at the junction of different combination patchesand optimization objective functions are established, the multiplier method is used to solveoptimization problems.The methods that improve coating uniformity and coating utilization factor are studied. Frist, for tool path planning way and geometric shape of patch have an effect on spray effect,the global path planning algorithm is proposed that based on optimization of two pathplanning ways. Secondly, be aimed at the problem that coating distribution interference whichinfluence coating uniformity, the methods of adjust spacing distance, adjust spray height andcombine both are used to study coating distribution interference when border parallel andapproximate parallel, the optimization objective functions are given respectively and the antcolony optimization algorithm for nonlinear integer programming is used to solve them.Again, be aimed at the problem that coating utilization factor influence spray effect, theapproximate expression of coating utilizing factor is given when path planning, on conditionthat meet coating uniformity, The method is proposed that combine coating thicknessfunctions at corner of paths with search algorithm to optimize coating utilization factor.Finally, based on the contradiction between optimize spray efficiency and coating utilizationfactor.In this paper, simulations are performed for main design schemes, simulations show thatmathematical model and a variety of tool trajectory optimization can obtain good results.