面向曲率组合曲面的喷涂机器人喷枪轨迹优化研究

发布时间：2018-05-01 19:27

本文选题：喷涂机器人 + 轨迹优化　；参考：《兰州理工大学》2016年硕士论文

【摘要】：本文针对复杂自由曲面的喷涂机器人喷枪轨迹优化研究存在的问题,基于曲面曲率特性,将复杂自由曲面具体化为不同曲率曲面的组合,进而研究面向复杂曲率组合曲面上的喷枪轨迹的优化,全文主要由以下几个部分组成:(1)基于曲面曲率特性和曲面网格CAD模型,结合喷涂精度要求,设计出曲面分片造型与不同曲率曲面区域提取方法,并建立大曲率曲面数学模型;最后为便于喷涂应用,将大曲率曲面再次造型为单个面积较大的规则二次曲面片或者它们的任意组合,以便于喷涂应用。(2)在喷涂机器人喷涂应用中,喷涂效果及涂层质量与被喷涂件自身的外形特征、喷枪结构,涂料特性和喷涂环境等因素息息相关。涂料累积速率建模分析是提高喷涂轨迹优化算法性能与控制的关键。因此,为研究喷枪模型建立的相关问题。首先对与喷枪建模相关的关键因素进行分析,并对几种常见喷枪模型进行简要讨论;然后给出了喷涂平面片时典型的二维喷枪模型及其应用;最后基于平面二维喷枪模型,利用面积放大定律推导出了更接近实际的、并考虑涂料流量的大曲率圆弧喷枪新模型,并将其应用于大曲率柱面片上圆弧喷枪轨迹的优化,最后通过仿真实验验证了该模型的有效性。(3)为获得复杂曲率曲面上最佳的涂层均匀性和涂料利用率,对曲率组合曲面进行分类讨论。首先分析了分片造型后的单个小曲率曲面片,以及单个大曲率曲面片上的喷枪轨迹规划与优化问题;然后对小曲率曲面片与小曲率曲面片、小曲率曲面片与大曲率曲面片,以及大曲率曲面片与大曲率曲面片相交区域的喷枪轨迹进行了优化求解;接着针对一种由不同曲率曲面片组合成的大曲率圆弧犄角区域进行喷涂轨迹规划与优化研究,建立了适用于该型面的倾斜喷涂圆弧喷枪新模型,并用实验验证该模型的有效性与倾斜喷涂方案的可行性;最后,为了使整体喷涂效率达到最优,基于改进的粒子群算法,对曲率组合曲面上各面片的喷枪轨迹组合连接问题进行了优化求解,仿真实验验证了算法针对该类问题具有良好的全局搜索能力与收敛性,提高了喷涂效率。
[Abstract]:In this paper, aiming at the problem of the optimization of the trajectory optimization of the spray gun of the complex free surface, the complex free-form mask is transformed into a combination of different curvature surfaces based on the curvature characteristic of the curved surface, and then the optimization of the gun trajectory on the complex curvature surface is studied. The whole article is composed of the following parts: (1) the surface of the surface is based on the surface. The curvature characteristic and the surface mesh CAD model, combined with the requirement of spraying precision, design the method of surface slice modeling and different curvature surface area extraction, and establish the mathematical model of large curvature surface. Finally, the large curvature surface is remodeled as a single larger two order surface patch or their arbitrary combination for easy spraying application. (2) in spraying application of spraying robot, the effect of spraying and the quality of the coating are closely related to the shape characteristics of the sprayed parts, the structure of the spray gun, the characteristics of the paint and the spraying environment. The modeling analysis of the cumulative rate of the paint is the key to improve the performance and control of the spray trajectory optimization. Firstly, the key factors related to the modeling of the spray gun are analyzed, and several common spray gun models are discussed briefly. Then the typical two-dimensional spray gun model and its application are given. Finally, based on the plane two-dimensional spray gun model, the application of the law of area amplification is more close to the reality. A new model of circular arc spray gun with large curvature rate of coating flow is considered and applied to optimize the trajectory of circular arc spray gun on large curvature cylinder. Finally, the validity of the model is verified by simulation experiments. (3) first, to obtain the best coating uniformity and coating efficiency on the complex curvature surface, the curvature combined surface is classified and discussed. This paper analyzes the single curvature surface of the piecewise shape, and the trajectory planning and optimization of the spray gun on a single large curvature surface, and then optimizes the gun trajectory of the curved surface film of the small curvature and the curvature of the small curvature, the curvature of the curved surface and the large curvature surface, and the region of the large curvature surface and the large curvature surface. Then, the spray trajectory planning and optimization of a large curvature arc horn region composed of different curvatures and curved surfaces is studied, and a new model of the inclined spraying arc spray gun suitable for this surface is established, and the feasibility of the model is verified by the experiment. Finally, the overall spraying efficiency is made to make the whole spraying efficiency. The improved particle swarm optimization (PSO) is used to solve the problem of spray gun trajectory combined connection on each surface of the curved surface. The simulation experiment shows that the algorithm has good global searching ability and convergence for this kind of problem, and improves the spraying efficiency.

【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

【参考文献】