陈伟,赵德安,汤养.自由曲面喷漆机器人喷枪轨迹优化[J].农业机械学报,2008,39(1):147-150.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(1):147-150.
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自由曲面喷漆机器人喷枪轨迹优化   [下载全文]
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  喷漆机器人  自由曲面  轨迹  优化  仿真
基金项目:
陈伟  赵德安  汤养
江苏科技大学
中文摘要:根据实验数据确定平面上的涂层累积速率二次函数后,建立了自由曲面上的漆膜厚度数学模型。在此基础上生成喷漆机器人喷枪空间路径,得出喷枪轨迹优化设计是带约束条件的多目标优化问题,并选取时间最小和漆膜厚度方差最小作为目标函数,应用带权无穷范数理想点法进行求解。最后通过计算机仿真的结果,论证了数学模型和优化算法的可行性。
Key Words:
Abstract:Due to the complex geometry of free-form surfaces, generating paint gun optimization trajectories for free-form surfaces to satisfy paint thickness requirement is still a challenge. A quadratic function of the paint deposition rate on a plane was proposed according to the experimental data, and then a mathematical model of film thickness on a free-form surface was established. Instead of widely used parametric representation of surfaces, a planar facet scheme was used to obtain the painting surfaces approximately. A multi-objective constraint optimization problem was formulated for the trajectories optimization. An optimal tool trajectory with an optimal time and film quantity deviation was generated by the weighed ideal point approach. The generated trajectory was verified by the simulation results. The results show that the developed optimal tool planning algorithm can be applied to generate optimal tool trajectories.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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