Research On Automatic Spraying Technology Of Free-form Surface Based On Improved Genetic Algorithm

Automatic spraying technology is an important field of intelligent manufacturing,spraying robot technology research is also a hot spot in recent years at home and abroad,and widely used in high demand for spraying products,such as automobiles,aircraft and so on.Compared with the traditional manual teaching,the automatic spraying control technology avoids the waste of time and environmental pollution,and improves the spraying efficiency and quality greatly.With the development of the Times,more and more free-form surface products join the ranks of automatic spraying,and reasonable trajectory planning is the key to obtain uniform film thickness.In this paper,the automatic spraying technology of free-form surface is studied.The main contents are as follows:Firstly,the principle,advantages and main process parameters of electrostatic spraying are introduced,and the common surface defects and their causes are analyzed.On this basis,the mathematical model of common spraying model is established.Then,the space point cloud coordinates of free-form surface are read by Matlab,and the normal vector of free-form surface point cloud and the intersection point of slice plane and point cloud of free-form surface are calculated respectively by Principal Component Analysis and point cloud slice algorithm,on this basis,the trajectory planning of the end of the automatic spray gun based on improved genetic algorithm is proposed,and then the mathematical model of the robot is established according to the D-H parameters of the ABB robot IRB 4400,the space of the spraying robot is simulated by the Monte Carlo method,and it is verified that the spraying trajectory is in the range of the space of the robot.In the space trajectory planning of the robot,the interpolation points on the spray trajectory are obtained by means of line and ARC interpolation The trajectory of the robot joint space is planed by Polynomial interpolation,and the simulation curves of six joint angles are obtained,which verify the rationality of the motion control algorithm of the robot.Finally,taking the curved surface model established in chapter 3 as an object,a Robot spray station was built in Robot Studio,and a Robot spray system was created,based on the principle of forward and inverse kinematics of the Robot and the interpolation algorithm of trajectory planning,the RAPID program which can control the robot motion is written,and the process of automatic spraying of the free-form surface is simulated according to the trajectory of the previous program,the simulation results prove the accessibility of the spraying trajectory planned in this paper and the practicability of the robot kinematics research.