| Aimed at the problem that spray gun trajectory optimization for complex free-form curved surface, based on the surface curvature feature, the complex free-form curved surface is concrete into a combination surface which has different surface curvatures, and then the problem is converted to the spray gun trajectory optimization for complex combination surface which has different surface curvatures.(1) Based on the surface curvature feature and the paint thickness deviation, the partition of curved surface and the extraction of different curvature features surface from triangular approximation of CAD model for complex surface are developed. And, to be easy to spray application, the least square method is used to fit large curvature surfaces,last the quadric surface with large area and leveling shape is generated.(2) Quality of the paint thickness is related to the geometric shape of the surface ã€the spray tool technical parameters and surrounding environment s. The paint deposition rate is the key to improve the algorithm performance of spray gun trajectory optimization and the robot control precision. So, some uncontrolled factors for modeling spray gun model are hypothesized by scientific and several common spray tool models are analyzed first, then a typical spray gun model on plane is given and analyzed. Finally, based on two dimensional spray gun model, a new arc trajectory spray gun model of considering the flow rate of paint for large curvature surface is established by using the theorem of area magnification. After all, the new model is used to optimize the arc trajectory for large curvature arc surface and the simulation results show the modeling method is effective.(3) To obtain the optical uniform paint thickness and coating utilization, t he combined surface of different curvatures should be discussed respectively. Based on the surface curvature feature, the spray gun trajectory for single small curvature patch and large curvature patch is optimized respectively first, then the spray gun tr ajectory at junction of combination between different curvature patches. Meanwhile, a special surface which named horns surface here is proposed, and faced the surface, a new oblique angle arc model of spray gun that considering the paint flow rate is established by principle differential geometry. Simulation results illustrate that modeling method of oblique angle arc spraying and spray solutions are feasibility and availability. Finally, in order to make the whole spraying cycle time minimization, the path integration problem can be modeled as an open rural postman problem(ORPP), and an improved particle swarm optimization algorithm is used to solve the problem, experiments show that the algorithm can effectively solve the problem. |
