Dip Coating Spraying Robot Model Establishment And Trajectory Optimization Research

To study the spraying uniformity of horns surface, meshing horns surface and trajectory of horns surface was generated. Dip Gaussian sum model and dip beta distribution model fitting precision was studied. By use of the dip Gaussian sum model, the direct and indirect transition inside and outside the horns of surface spraying was simulated. Two types trajectory planning of the horizontal and vertical was optimized on present spraying robot. The thesis The main contents of the paper are as follows:Large curvature of work-piece surface topology subdivision planning and trajectory were introduced. To determine whether there is a horns surface based on the angle formed by two surfaces. The topological fragmentation and trajectory planning were accomplished on horns surface. The dip angle of the spray gun model was derived based on the existing model. According to experimental results of the static spraying, Gaussian sum model and the beta distribution model were fitted. It is concluded that the Gaussian sum model fitting precision is obviously better than the beta distribution model by comparing the fitting precision of the two models. According to different spray angle, Gaussian sum model was set up in the law of the fitting parameters changing with angle, thus finally established spray model under different angle.The combination of horn surface’s two adjacent surfaces was divided as internal and external horn. The spraying gun trajectory of internal and external horns was optimized. Trajectory optimization function of two kinds horn surface was set up and solved respectively. The results show that,for the horns spraying, according to the requirements of the precision spraying object to high and low, in turn, the transition can be indirect and direct transition in two ways:for the horns spraying adopts direct transition of spraying method, can satisfy the coating requirements of most of the horn in the work-piece.Based on the existing platform of ZF1500-15G type of manipulator, analyzes its positive and inverse solutions, according to the results of the trajectory optimization results to compare horizontal and vertical for angle spraying robot dynamics of robot joint torque.Choose robot trajectory planning method of each joint torque minimum.Gaussian sum inclination of the model is established for the different angle of spraying experiment fitting and different forms of trajectory optimization in the simulation, the simulation results show that the model based on Gaussian sum dip angle of the trajectory planning method has good effect.