Optimization method for spray gun track of spraying robot on irregular polyhedron
A spraying robot and trajectory optimization technology, applied in the direction of instruments, spraying devices, special data processing applications, etc., can solve the problems of not being able to use three-dimensional polyhedrons, time-consuming, harmful environment for workers, etc., to improve work efficiency and product quality, strong and practical sexual effect
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[0020] The present invention will be further described below with reference to the drawings and embodiments. The implementation steps of the present invention consist of three parts: the generation of the spray gun space path of the spraying robot on the polyhedron, the spray gun trajectory optimization on each surface of the polyhedron, and the spray gun trajectory optimization combination. The specific implementation is as follows.
[0021] 1 Generation of space path of spraying robot spray gun on polyhedron
[0022] The specific steps of the spray gun space path of the spraying robot on the polyhedron are as follows:
[0023] (1) Determine the irregular polyhedron from the CAD model of the workpiece. After inputting the irregular polyhedron CAD graphics in the GID7.2 software, use the GID grid graphics output function to obtain the irregular polyhedron triangle mesh graphics (allowable error 2mm, each The mesh is called a triangular surface or triangular piece). After each face ...
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