【摘要】 研究了喷漆机器人喷枪最优轨迹的规划 ,该规划的目的是要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 ,对工件表面为正方形平面的情况进行仿真 ,得出优化仿真结果 ,论证该方法的可行性 ,最后分别对工件表面为圆锥面的情况和一般情况提出基本构想更多还原

【Abstract】 A study is undertaken on the optimal trajectory planning problems for spray coating.The objective of the study is to determine a trajectory that results in minimal variation in accumulated film thickness on the surface of a workpiece.Firstly,this paper develops a mathematical model for the planning.Then the algorithm is determined and the square plane surface of the workpiece is simulated.The results obtained demonstrate the feasibility of the method .Finally,a fundamental scheme is put forward with regard to the cone workpiece and general situation.更多还原