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针对喷涂机器人在大曲率组合曲面的面片上喷枪轨迹间的组合与连接问题,结合曲面拟合理论与喷枪建模方法,建立喷枪轨迹优化模型,提出一种满足大曲率组合曲面上喷枪轨迹首尾衔接的算法程序。首先,基于曲面拟合理论将大曲率组合曲面转换为自然二次曲面面片组合,建立涂层增长模型,对组合曲面上不同类型自然二次曲面面片交界处的喷枪轨迹进行优化;其次,基于该模型运用交换子和交换序列的思想,设计出实现喷涂大曲率组合曲面的喷枪轨迹组合与连接的新算法,并编写相应的算法程序,实现喷涂轨迹的全局优化;最后,通过某一种汽车外壳的喷涂实验,验证了模型的有效性和算法程序的可行性,实现了对大曲率组合曲面的连续性喷涂。
Aiming at the combination and connection of spray gun trajectory on surface of patch with large curvature, the spray gun trajectory optimization model is established by combining surface fitting theory and spray gun modeling method. Algorithm program. Firstly, based on the theory of surface fitting, the large curvature combination surface is transformed into the natural quadric surface patch combination, and the coating growth model is established to optimize the spray gun trajectory of the different types of natural quadric surface patches on the combination surface. Secondly, Based on the idea of commutator and exchange sequence, this paper designs a new algorithm for the combination and connection of the spray gun trajectory with a large curvature combination surface, and compiles the corresponding algorithm program to realize the global optimization of the spray trajectory. Finally, The spray experiment of automobile shell verified the validity of the model and the feasibility of the algorithm program, and realized the continuous spraying of the composite curvature with large curvature.