Research On Trajectory Planning And Simulation Of Spraying Robot

The off line programming technology can shorten teaching time,reduce teaching cost and get the best technological effect,which is one of the advanced technologies of spraying robot.It also has important research value in many aspects,such as robot mechanism,control system,spraying tool,spraying process,car body,programming software and so on.This paper cup and car paint spraying work,relates to a rotary cup spraying module,workpiece surface modeling module,trajectory planning module,trajectory generation module,simulation module,focuses on the new model,spraying cup body surface modeling,surface thickness calculation and parameter selection,discrete trajectory planning and Simulation of spray coating thickness analysis of the contents.The main work is as follows:1.to explore the working principle of rotary cup,detail the cup(gun)the mathematical model of the problem,put forward a new model of accumulation rate,the new model of cumulative projection model,uniform spray coating thickness based on the model,and to lay the foundation for trajectory planning of free surface film thickness calculation.2.the modeling of body surface,the calculation formula of the thickness of the surface and the setting method of the related parameters are explored.The two surface expressions of parametric surface and mesh model are explored.After analyzing the merits and demerits of the two kinds of surface expression methods,we finally choose the way to generate the trajectory using parametric surface and calculate the thickness with the STL surface format file.After the formula of the film thickness on the free surface,calculated on the basis of the main parameters of film simulation and trajectory error,discrete step STL patch(height,step)relationship(necessary condition),and provides a theoretical basis for the selection of parameters,it can ensure the accuracy of the simulation and the film thickness.To save computational resources.3.the trajectory planning of simple face and compound face is explored.First proposed the concept of trajectory evaluation index,and then points out the trajectory planning purposes,namely to solve the target trajectory,the corresponding evaluation index extremum,then explore the trajectory planning method is simple patch,the first is to explore simple planar trajectory planning method,on this basis,to explore the trajectory planning method for simple surfaces finally,based on a simple patch on the trajectory planning method of composite patch,idea is to block,put forward a comprehensive and convenient degree at the junction of each patch of uniform evaluation function were calculated to determine the direction of the patch spraying,the block of trajectory planning and trajectory integration problem of composite surface.4.construction of the lacquer film thickness simulation system for off-line programming.It includes the generation of STL files,the generation of trajectories,the batch export of track pose(coordinate and normal vector),the calculation of film thickness,the thickness simulation and the error analysis.The key technology is the development of two times of CREO by CREO/Toolkit,and then batch extract pose of discrete points,based on the patch file and track,with film thickness algorithm,the simulation of each patch thickness,and to form images,display spray visual effects,combined with the variance index can be.To evaluate accurately and directly to the spraying effect.