Research On Optimization Of Trajectory For Electrostatic Spraying Robot And Simulation Technique

Painting robot is a kind of important and advanced spray equipment. It is widely used in automotive manufacturing. Non-electrostatic spraying not only increases costs, but also causes serious environmental pollution. With the emergence of electrostatic spraying, paint transfer efficiency is more than 80%.Robot electrostatic spraying technology is a new trend. New painting models and tool planning algorithms are active research for many years.The content of the article are trajectory optimization of the electrostatic spraying robot and visualization of simulation. The main work of this dissertation as follows:In the first part, robot's development process, background and significance of researching for electrostatic spraying robot are discussed. And then the frame of off-line programming system and some problems which are studied in this dissertation are introduced.In the second part, electrostatic spraying technology and atomization mechanism are studied. The principle of electrostatic spraying technology, processes and characteristics are systematically expounded. From the formation of high-voltage electrostatic field, corona discharge, electrostatic atomization, mechanism of electrostatic atomization is analyzed. High voltage electrostatic field is obtained by increasing the voltage or reducing the distance between the spray gun and work-piece. This can increase the electric field strength, so that paint particles are subject to increasing electric field strength, full spray, improve the efficiency of electrostatic spray .The relationship between paint transfer efficiency and voltage is nonlinear.In the third part, optimal algorithms and gun trajectory are studied. Analyzing quasi-Newton method prepares mathematical theory for trajectory optimization. Model of trajectory optimization problem is defined in order to establish the function for evaluating spray effects. The differential of objective function is instead of gradient. Using penalty function solves the problem of trajectory optimization.In the fourth part, complex data resulted in visually analyzing distribution of film difficult due to adopting numerical simulation. Simulation of trajectory optimization for painting robots is researched. Overlay of film on the surface is graphically displayed based on OpenGL in Visual C++ program interface when tool is painting around the designated spatial path. Different colors express spatial distribution of paint. Visualization of trajectory optimization of robotic spray painting is achieved.In this dissertation, visual simulations are made for design schemes of optimization of trajectory. The results of simulations have shown that model and the tool planning algorithms are feasible.