Research On Trajectory Optimization Of Robotic Spray Painting In Interference Areas For Car

In all automotive painting equipment, electrostatic spraying robots play a pivotal role. Due to the high quality requirements of automobile painting, there are many types of vehicles, and the body is mostly A-level surface. In the border region of several independent modules(interference zone) is easy to produce interference coating distribution and change of curvature is large, complex shape. Therefore, it is necessary to carry out the research on the electrostatic spraying strategy in the vehicle body interference area, and further improve the painting quality of the vehicle and reduce the negative impact of the spraying workshop on the ecological environment and economic environment. This thesis is supported by the National Natural Science Foundation of China(61503162).In the first part, the automobile painting robot trajectory optimization research background, significance, development, spray robot trajectory optimization algorithm before the existing problems and the main work to do are introduced.In the second part, the practical and effective spraying model applied to automobile painting is studied. In the first place, a practical mathematical model of air spraying is researched. Then, considering the poor versatility of the existing high-speed electrostatic sprayer(ESRB), a method of considering the surface curvature and ESRB sprayer shape Of the film coating model, and thus optimize the spray path to meet the coating uniformity, spraying time and several quality standards. In addition to the study of the relevant mathematical model, the experimental results of the model were also analyzed. The interaction between the film pattern and the spray path and the surface curvature was also studied.The third part is to solve the problem of the trajectory optimization of the coating robot in the interference region of automobile by using Bézier curve and surface technology, aiming at the problems such as poor coating uniformity, waste of paint and environmental pollution. After defining a new set of Bézier bases, the definition and properties of T-Bézier curves are studied. The curves are used to fit the discrete point arrays on the equidistant surfaces of the workpiece surface, and the control vertices of the curves are obtained. And the space path of electrostatic spraying based on T-Bézier curve is generated.In the fourth part, the trajectory optimization problem of surface spraying robotbased on genetic algorithm is studied. Because of the complexity in the interference area of the surface, the surface is to slice and slice will lead to separation of spraying path, so need to solve the path combination problem spraying, this will involve all paths combination order, and the optimum combination of the goal is to make the spraying the shortest path. In this chapter, an improved genetic algorithm is proposed to solve the problem of path optimization of spray painting robot. In the overall framework of the end effector path planning, discusses the end effector path planning,and puts forward the mathematical combination path representation method, finally using improved genetic algorithm to optimize the combination of spraying path, thus completing the interference trajectory planning area.Finally, the main design scheme is experimentally studied. The experimental results show that the proposed mathematical model and the optimization method of various trajectories of the robot for the interference region of the automobile can obtain good results.