| 复杂曲面的喷涂机器人喷枪轨迹优化与试验 |
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| 引用本文： | 陈伟,赵德安,李发忠. 复杂曲面的喷涂机器人喷枪轨迹优化与试验[J]. 农业机械学报, 2011, 42(1): 204-208 |
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| 作者姓名： | 陈伟 赵德安 李发忠 |
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| 作者单位： | 1. 江苏大学电气信息工程学院,镇江,212013;江苏科技大学电子信息学院,镇江,212003
2. 江苏大学电气信息工程学院,镇江,212013 |
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| 基金项目： | 国家自然科学基金资助项目(60875052) |
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| 摘 要： | 对复杂曲面进行分片后,以实际涂层厚度与理想涂层厚度方差为目标函数,采用黄金分割法求解涂层重叠区域宽度的最优值。为提高喷涂效率,利用无方向的连接图表示曲面上的喷枪轨迹优化组合问题,采用改进的蚁群算法进行求解。仿真结果表明,蚁群算法的全局性和收敛速度都能达到满意的效果。喷涂试验中,采用三角网格划分法对复杂曲面工件进行造型,优化后的喷涂轨迹不仅能够满足涂层均匀性要求,而且喷涂时间节约了20%。
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| 关 键 词： | 喷涂机器人 轨迹规划 蚁群算法 轨迹组合 |
Tool Trajectory Planning of Robotic Spray Painting and Its Experiment for Complex Curved Surfaces |
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| Chen Wei,Zhao Dean and Li Fazhong. Tool Trajectory Planning of Robotic Spray Painting and Its Experiment for Complex Curved Surfaces[J]. Transactions of the Chinese Society for Agricultural Machinery, 2011, 42(1): 204-208 |
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| Authors: | Chen Wei Zhao Dean Li Fazhong |
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| Affiliation: | Chen Wei1,2 Zhao Dean1 Li Fazhong1 (1.School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China 2.School of Electronics and Information,Jiangsu University of Science and Technology,Zhenjiang 212003,China) |
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| Abstract: | A complex curved surface was divided into several patches and trajectory planning for each patch was performed.The trajectory integration problem can be modeled as the tool trajectory optimal integration problem(TTOI),and an ant colony algorithm was advanced to solve the TTOI.Simulations were carried out on the automotive body parts and the results validated the proposed algorithm.And a workpiece with a complex curved surface was used to test the scheme.The results of the experiments showed that the traject... |
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| Keywords: | Robotic spray painting Trajectory planning Ant colony algorithms Trajectory integration |
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