A Boundary Constraint-Based Optimization Method for Spraying Trajectory of Irregular Plane with Variable Inclination Angle
A boundary constraint and optimization method technology, applied in the field of robotics, can solve the problems of asymmetric distribution of coating film thickness, affecting the uniformity of coating film, and not giving an optimization method, etc.
Active Publication Date: 2021-05-11
YANCHENG INST OF TECH
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However, this method has not considered the influence of the geodesic curvature of the generated spraying path on the uniformity of the film thickness distribution. When the generated spraying path is a curve, the geodesic curvature of the spraying path will lead to asymmetric distribution of the coating film thickness on both sides of the path. It seriously affects the uniformity of the coating film after spraying, and its optimization method has not been given yet
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[0065] The present invention will be further described below in conjunction with specific embodiments.
[0066] An optimization method for spraying trajectories with variable inclination angles on irregular planes based on boundary constraints,
[0067] Specific steps include:
[0068] Step 1. Based on the existing static vertical spraying coating growth rate model, the spraying inclination angle is used as the controllable parameter of the spray gun, and the static variable inclination angle spraying coating growth rate model is established by using the principle of differential geometry;
[0069] Step 2. According to the idea of circular arc approximation, the free curved spray path generated based on boundary constraints is equivalent to the composition of several circular arc segments, in which a straight line can be regarded as a circular arc with an infinite radius of curvature;
[0070] Step 3: Based on the established growth rate model of the static variable-inclina...
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The invention discloses a boundary constraint-based optimization method for variable-inclination-angle spraying trajectory on an irregular plane. Based on the relatively short spraying path generated based on boundary constraints, the method takes the spraying angle as the controllable parameter of the spraying gun. Considering that the spraying path may be in the form of a free curve, based on the idea of circular arc approximation, the spraying gun is established in a single circular arc. The coating thickness model of the dynamic spraying of the spraying path, and further gives the optimization method of the coating thickness distribution on both sides of the arc path; taking the uniformity of the coating on the entire workpiece surface as the optimization goal, by establishing each intercept of the spraying path The coating thickness superposition model between two adjacent spraying paths on the line provides a global optimization algorithm for spraying trajectory parameters with variable inclination angles of the spray gun on the entire workpiece surface, and finally achieves the simultaneous improvement of coating uniformity, spraying efficiency and paint utilization. The method of the invention can ensure uniform spraying effect while reducing paint waste and spraying time.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to an optimization method for an irregular plane variable inclination angle spraying trajectory based on boundary constraints. Background technique [0002] Because the off-line programming trajectory planning method of spraying robots has the advantages of not occupying the working time of robots, can plan complex trajectories, and liberate workers from toxic environments, it is increasingly used in fields such as automobiles, ships, and aerospace. . The optimization result of spraying trajectory directly affects the spraying quality, spraying efficiency and paint utilization rate after spraying, which is of great significance to painting production. For the spraying of plane workpieces with irregular boundary shapes, for the sake of simplicity, the previous spraying path planning method that does not consider the boundary constraints of the workpiece has the defects of long path a...
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IPC IPC(8): B05B13/04B05B12/08
CPCB05B12/084B05B13/0431
Inventor 曾勇于永庆肖海宁周临震
Owner YANCHENG INST OF TECH