【作者】 陈伟；

【导师】 赵德安；

【作者基本信息】 江苏大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 喷涂机器人是一种重要的先进涂装生产装备,在国内外广泛应用于汽车等产品的涂装生产线。喷涂机器人的喷涂效果与物体表面形状、喷枪参数等诸多因素有关。新的喷涂建模分析和高性能喷涂机器人喷枪轨迹优化算法、控制策略的研究一直是国内外学者们近几年关注的热点。本课题得到江苏省高技术研究项目经费资助,全文主要由以下几个部分构成:第一部分首先介绍了喷涂机器人喷枪轨迹优化的研究背景、意义、发展历程、喷涂机器人离线编程系统的主要结构、轨迹优化研究概况与现阶段存在的问题以及本文做的主要工作。第二部分提出了平面和规则曲面上喷涂机器人喷枪轨迹优化方法。在写出平面或规则曲面的函数表达式后,利用已有的涂层累积速率数学模型,以采样点上的涂层厚度方差最小为优化目标,对沿指定空间路径的喷枪轨迹优化问题进行研究,并将该问题转化为无约束优化问题,采用差分拟牛顿法进行求解。第三部分研究了自由曲面上喷涂机器人喷枪轨迹优化问题。由于现有涂层累积速率模型表达式过于复杂,故采用实验方法建立了表达式较简单的涂层累积速率模型后,通过分析喷涂过程中各个可控参数对喷涂效果的影响,建立自由曲面上涂层厚度数学模型。在此基础上生成喷涂机器人喷枪空间路径,得出喷枪轨迹优化设计是带约束条件的多目标优化问题,并选取时间最小和涂层厚度方差最小作为目标函数,应用带权无穷范数理想点法进行求解。第四部分研究了复杂曲面上喷涂机器人喷枪轨迹优化问题。对复杂曲面进行喷涂作业时,按照曲面拓扑结构建立评价函数,以此函数为优化目标,对曲面进行分片,并在每一片上进行轨迹设计;为保证曲面上涂层厚度的均匀性,按照两片交界处喷枪路径的位置关系分三种情况讨论涂层厚度的计算方法和喷枪轨迹优化问题;最后采用遗传算法对每片上的喷枪轨迹进行优化组合,从而实现大面积复杂曲面上的自动轨迹优化。本文对主要的设计方案进行了仿真研究。仿真结果表明,本文提出的数学模型以及各种喷枪轨迹优化方法均可以获得良好的效果。更多还原

【Abstract】 Painting robot is a kind of important and advanced spray equipment. It is widely used in automotive manufacturing. The figure of a product and the tool parameters can strongly influence the quality of painting. New painting models and tool planning algorithms are active research for many years. The research is supported under JiangSu high tech project fund.The main work of this dissertation consists of four parts as follows:In the first part, the general situation and background about painting robot research and the developing about research are discussed firstly. And then the frame of off-line programming system and the major problems of research are given. Finally some problems, which are studied in this dissertation, are introduced.In the second part, generating paint gun trajectories for plane and regular surfaces are discussed. According to the expressions of plane and regular surfaces, the paint deposition rate function is given. An optimal tool trajectory problem with an optimal film quantity deviation is researched. And the problem is changed to the no constrained optimization problem. The difference quasi-Newton method is adopted here to calculate the values.In the third part, trajectory optimization for painting robot of free-form surfaces is studied. Because the current paint deposition rate function is too complicated, the paint deposition rate function on a plane according to the experiment data is provided. The paint thickness function for free-form surfaces is also given. A multi-objective constraint optimization problem is formulated. An optimal tool trajectory with an optimal time and film quantity deviation is generated. And ideal point method is adopted here to calculate the values by iteration.In the fourth part, trajectory optimization of painting robot for complex curved surfaces is studied. A complex curved surface is divided into several patches by the evaluation function and trajectory optimization for each patch is performed. In order to satisfy the material uniformity requirements, optimization algorithms of the three different cases are developed to integrate the trajectories on the intersecting area of two patches. Finally, a genetic algorithm is developed to solve the trajectory integration problem. And the system which can automatically generate optimized tool trajectory for complex curved surfaces is accomplished.In this dissertation, simulations are made for major design schemes. The results of simulations have shown that the model and the tool planning algorithms are feasible.更多还原