The Research On The Trajectory Optimization Of Electrostatic Painting Robot

As people’s focus on product quality, economic efficiency,, the electrostatic spraying become a new technology in contemporary painting industry focused on research, development and application, it has a lot of advantage including good economic benefits, higher coating efficiency, environmental protection focusing, and the best coating performance, and many other advantages. The quality of the coating is not only related to the surrounding environment, but also refers to the its technical parameters, the geometric shape of the surface, the location of holding the gun, the space between tracks and the moving velocity.The subject of this paper adopted a combination way of theoretical calculation and numerical simulation is mainly focuses on the research of the electrostatic rotary bell at the car coating production line. The main work is outlined as following:1. Taking the electrostatic spinning cup as the research objects, analyzing its effect factors as geometrical parameters, rotation rate, painting viscosity, painting flow and its density on and coating deposition. In the last, build up the mathematical model of Spatial distribution. Its correctness was verified with the software MATLAB to simulate the any point’s distribution on the plane.2. According to the constant painting density under the same conditions, the painting volume deposited onto the plane and free-form surface is unchanged, and the sedimentary area and the coating thickness are changed. The coating deposition model of free-form curved surface can be established using the area of expansion factor put forward projecting the coating deposition model the flat surface onto it.3. Due to the geometry characteristic of complex curved surface is very complex and the quality of spraying is easy influenced by many other factors. It is difficult to optimize the paint gun trajectories on complex curved surface, so the appropriated way is mesh the surface with triangular type. Through the permissible thickness deviation to seek the drift angles range of complicated surface triangular mesh which adjacent two triangular mesh methods. The triangular mesh of complex curved has been planned with this function targets optimizing.4. After the triangle mesh subdivision planning in complex surface modeling into several approximate plane and the combination of quadric surface, on the base of each surface gun trajectories, aim at the problem that border between spray gun combinations of trajectory planning. The introduction of the theory belongs to cloud model and K-Opt local search strategy, to adapt the randomness of controlled ant colony algorithm, improving the global and local searching ability of the algorithm. The membership cloud models and adoption of improved Ant Colony algorithm for solving the question of OTSP, verify that an improved Ant Colony algorithm of membership cloud models relatively basic advantages of ACA, a foundation for partitioning plan for complex surfaces sprayed some theoretical basis.