Study On Spray Tool Trajectory Optimization Method Of Spray-painting Robot For Large Curvature And Complex Surface

This paper aimed at the trajectory distribution and combination of existing problems based on large complex surface curvature on the spray gun spraying robot in trajectory optimization.This mainly include revising the existing gun model and application,studying trajectory optimization and combination in large curvature ruled surface patches and their combined patches,and discussing the gun track optimization and combination in large curvature characteristic surface,and studying trajectory optimization and combination for different curvature patch junction of complex free-form surface.Its contents are composed of the following parts:(1)Based on the surface curvature feature,the curvature identification method is put forward for the complex free surface which is divided into large curvature and small curvature surface,and the graphic example is given to illustrate scheme feasibility.The paper aimed at 3 d gun model not considering the problem of spraying flow in research on trajectory optimization of spraying large curvature surface.Firstly,the new 3d gun model with considering spraying flow is established.The results of spraying experiments show that the model can effectively increase the coating uniformity of spray area.Finally,the use of the new model are given by examples.(2)The spray gun trajectory optimization method is introduced for the ruled surface of large curvature surface.Firstly,the trajectory optimization method on ruled surface patch based on the curvature identification method is proposed.And the considering spraying speed model of the spray gun trajectory optimization is established to achieve the spraying trajectory optimization on each patch.Secondly,the trajectory optimization method of patch juncture of the ruled surface is studied.According to the geometric model of the interface between the ruled patches,the optimization model is established to optimize the coating uniformity,and the correctness of the method is verified by simulation.Finally,the trajectory connection of patches for ruled surface is discussed.An optimization algorithm is designed to solve the problem that the spray trajectories are connected to each other.And the trajectory connection on any arbitrary ruled surface is selected as an example.The effectiveness of the algorithm is verified by simulation.The results of spraying experiments show that the trajectory combination optimization algorithm based on the same sprayed physical model can effectively improve the spraying efficiency and obtain better coating uniformity compared with the random spraying method.(3)The spray gun trajectory optimization method based on the trajectory optimization method for the ruled surface of large curvature surface is put forward to solve the problems of trajectory optimization and connection for large curvature combined surface.Firstly,based on the curved surface fitting of thoughts,a method of trajectory optimization is proposed to transform the large curvature combined surface into a natural quadratic surface.The method is mainly to establish the corresponding patch coating growth model,and according to the model and the patch at the junction of the spray trajectory optimization theory on the random combination of natural secondary surface of the interface to achieve spray trajectory optimization.The experimental results show that coating fluctuation value of patches junction is far less than deviation value to prove that the method can achieve better effect.Finally,based on the algorithm of trajectory connection algorithm on the ruled face,a algorithm program is designed to realize the coherent trajectory between the large curvature combination dough.The algorithm is verified by simulated spray simulation experiment on the premise of meeting the requirements of the coating uniformity,and the system execution time is shorter.And the efficiency of spraying can be improved.(4)Aiming at the problem of gun trajectory optimization of sprayed robots on complex free surfaces,a method of trajectory optimization by spraying time is proposed to improving spray efficiency.Based on the idea of least squares fitting and the topological meshing of small curvature surfaces,the problem of trajectory optimization at different curvature faces is transformed into the trajectory planning problem at the junction of approximate plane patches and natural quadratic surfaces.The corresponding trajectory optimization model is established on different curvature patches,and the effectiveness of the method is verified by simulation.Aiming at trajectory connection problem for different curvature surface,the corresponding connection algorithm is designed to reach the desired effect by the spraying simulation experiment,and achieving the requirement of the continuous spraying.The experimental results show that the optimal spraying method with trajectory connection algorithm can improve the uniformity of coating and improve the continuous spraying of free-form patches by improving the spraying efficiency.