Trajectory Planning Of Spraying Robot Based On Surface Model

In the production process,in order to improve the performance and quality of the product,the product surface usually needs to be sprayed and processed.Compared with traditional manual spraying production method,automatic spraying of product surface using spraying robot has higher spraying efficiency and better spraying product quality.Therefore,research on relevant technologies of spraying robot,such as robot programming technology and spraying trajectory planning,has become one of the hot topics in industrial production field.Common robotic programming methods mainly include off-line programming,teaching box programming and drag instruction programming.Among them,teaching box programming and drag instruction programming need to be carried out in the state of robot shutdown,which is less efficient than off-line programming.In order to solve the above problems,a robot automatic spraying scheme for complex surface is proposed in this subject.The focus is on the off-line Robot Spraying trajectory planning,which realizes the generation of spraying processing data and verifies the effectiveness of the spraying scheme on Fanuc robot.Firstly,according to the requirements of robotic spraying project of Joint Training Company,the overall scheme of robotic automatic spraying for complex surfaces is formulated,each functional module of the spraying trajectory planning algorithm program is introduced,the hardware platform used for the experiment is established,and the spraying robot,proximity switch,spray gun and air compressor are selected.Secondly,by analyzing the STL file of the spraying object,the triangular patch data is obtained.Aiming at the problem of lack of adjacent relationship between the patch data and large amount of data redundancy,a method based on Hash list and half-edge structure is proposed to construct the topological structure between the triangular patches.Finally,the effectiveness of this method is verified by time-consuming experiment of topological construction and memory space occupancy experiment.Then,a model surface data extraction algorithm is proposed,which extracts the specified model surface data from the triangular patch data based on the topological structure between the patches,and the validity of the algorithm is verified by experiments.Further,by improving the traditional slicing algorithm and based on the triangular patch data of the extracted model surface,the trajectory point data,including the space position of the trajectory point and its normal vector,is generated to guide the spray gun movement.On this basis,normal vector offset is applied to the generated track points to ensure that the spray gun can spray at a constant distance above the surface and perpendicular to the spraying area.At the same time,a trajectory optimization algorithm is proposed to remove inefficient data from the track points,and the effectiveness of the algorithm is verified by experiments.Then,in view of the different formats between the position and attitude data needed for Fanuc robot execution and the position and normal vector data generated by the slices,a coordinate system of the track points is constructed according to the actual requirements of spraying processing,and the position and attitude of the spray gun at each track point is determined.From this,the calculation formula of the position and attitude data of Fanuc robot is deduced.The accuracy of the formula is verified by experiments and final machining experiments.Finally,based on the software design platform,the off-line trajectory planning software is developed.The software is designed based on modular design idea,with emphasis on STL file data analysis module,topology construction module,feature surface extraction module,spray path generation and optimization module,robot data generation module and robot serial communication module.Robot machining data of physical workpiece are generated based on the software,and spray machining experiments are completed.The experimental results show that the software algorithm can generate effective robot machining track data for surface model.