Research And Application Of Collaborative Robot Jeans Spraying Technology Based On Parametric Surface

As a branch of robot industries,spraying robot has replaced human in many high-pollution and high-risk environments,and with the increase of labor costs,it will be more and more important in the future.spraying effect is related to many factors,including the surface of the workpiece,the moving speed of the end of robot,and the stability of the spraying system and so on.At present,various workpieces need to be processed,the original spraying model can no longer meet the growing requirements.Therefore,the application of the new mathematical method in the field of robot spraying has strong economic and social benefits.In the field of clothing spraying,due to the complex technology,the application of spraying robot in this field is limited.Up to now,a large number of jeans still rely on manual spraying.Therefore,it is undoubtedly of great value to develop a robot automatic spraying equipment for jeans.A special robot spraying equipment is developed to meet the need of jeans spraying.Under the condition of size of equipment,the installation of robot with higher moving flexibility is the priority object.According to this,the manipulability,which revealing the flexibility of the end of robot,is well studied.There are several common methods of surface modeling,such as the method based on CAD model,the method of reverse engineering scanning and parametric surface modeling.Since the CAD models of jeans cannot be obtained,parametric surface modeling with controlled points is chosen to describe the jeans surface in consideration of cost,practicability and efficiency.As for the generation of jeans spraying path,regarding the full-spraying process of jeans,the spraying path is obtained by the intersecting line between rotating plane and parametric surface.The optimized drag teaching function of collaborative robot is used to meet the topical-spraying process.The kalman filer technique in this optimization method is to filter the joint speed of drag teaching,after this,with the help of robot forward kinematics,the optimized joint speed is transformed into the speed of Cartesian system.Then the simulation of kalman filter model established by MATLAB show that the filter is effective.To research spraying process of jeans,the orthogonal experiment of spraying effect is designed.Through analyzing the data,the optimal matching level of each factor was obtained,and the theoretical improved matching process was obtained.Then the repetition experiment also show the rationality of the new element matching after optimization.The experiment of spraying provides theory and method guidance for the improvement of robot spraying technology of jeans.