摘要
研究了喷漆机器人喷枪最优轨迹的规划,该规划的目的是确定一条使得工件表面涂层厚度差异达到最小的喷枪最优轨迹。文中首先对喷枪最优轨迹规划问题建立了数学模型,然后确定了具体的算法,针对两类不同的漆膜生长速率函数,对正方形平板工件表面进行了仿真,得出了优化仿真结果,论证了两类方法的可行性,并对两类仿真结果进行比较。
A research is undertaken on the optimal trajectory planning problems for spray coating.The objective of the optimal trajectory planning problems is to determine a trajectory that results in minimal variation in accumulated film thickness on the surface of a workpiece.This paper develops a mathematical model for the planning problems, settles a concrete method of caculation, simulates the situation using two different type of film accumulation rate function on a square plane surface of a workpiece,obtains some results that demonstrate the feasibility of the two type of method ,and compares the two type of results.
出处
《机械工程师》
2004年第11期35-38,共4页
Mechanical Engineer
基金
江苏省教委自然科学基金资助项目(99KJD47002)
浙江大学CG&CAD国家重点实验室开放课题基金资助项目(A9906)
清华大学智能技术与系统国家重点实验室开放课题基金资助项目(0103)
关键词
喷漆机器人
最优轨迹
仿真
有限范围模型
β分布模型
painting spraying robots
lances
optimal trajectory
simulation
finite-range type distribution
β distribution
