本文選題：噴涂機器人 + 軌跡優(yōu)化　； 參考：《蘭州理工大學》2016年碩士論文

【摘要】：本文針對復雜自由曲面的噴涂機器人噴槍軌跡優(yōu)化研究存在的問題,基于曲面曲率特性,將復雜自由曲面具體化為不同曲率曲面的組合,進而研究面向復雜曲率組合曲面上的噴槍軌跡的優(yōu)化,全文主要由以下幾個部分組成:(1)基于曲面曲率特性和曲面網(wǎng)格CAD模型,結(jié)合噴涂精度要求,設計出曲面分片造型與不同曲率曲面區(qū)域提取方法,并建立大曲率曲面數(shù)學模型;最后為便于噴涂應用,將大曲率曲面再次造型為單個面積較大的規(guī)則二次曲面片或者它們的任意組合,以便于噴涂應用。(2)在噴涂機器人噴涂應用中,噴涂效果及涂層質(zhì)量與被噴涂件自身的外形特征、噴槍結(jié)構(gòu),涂料特性和噴涂環(huán)境等因素息息相關。涂料累積速率建模分析是提高噴涂軌跡優(yōu)化算法性能與控制的關鍵。因此,為研究噴槍模型建立的相關問題。首先對與噴槍建模相關的關鍵因素進行分析,并對幾種常見噴槍模型進行簡要討論;然后給出了噴涂平面片時典型的二維噴槍模型及其應用;最后基于平面二維噴槍模型,利用面積放大定律推導出了更接近實際的、并考慮涂料流量的大曲率圓弧噴槍新模型,并將其應用于大曲率柱面片上圓弧噴槍軌跡的優(yōu)化,最后通過仿真實驗驗證了該模型的有效性。(3)為獲得復雜曲率曲面上最佳的涂層均勻性和涂料利用率,對曲率組合曲面進行分類討論。首先分析了分片造型后的單個小曲率曲面片,以及單個大曲率曲面片上的噴槍軌跡規(guī)劃與優(yōu)化問題;然后對小曲率曲面片與小曲率曲面片、小曲率曲面片與大曲率曲面片,以及大曲率曲面片與大曲率曲面片相交區(qū)域的噴槍軌跡進行了優(yōu)化求解;接著針對一種由不同曲率曲面片組合成的大曲率圓弧犄角區(qū)域進行噴涂軌跡規(guī)劃與優(yōu)化研究,建立了適用于該型面的傾斜噴涂圓弧噴槍新模型,并用實驗驗證該模型的有效性與傾斜噴涂方案的可行性;最后,為了使整體噴涂效率達到最優(yōu),基于改進的粒子群算法,對曲率組合曲面上各面片的噴槍軌跡組合連接問題進行了優(yōu)化求解,仿真實驗驗證了算法針對該類問題具有良好的全局搜索能力與收斂性,提高了噴涂效率。
[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.

【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：TP242

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