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面向大曲率曲面的喷涂机器人喷枪轨迹规划研究

张鹏 龚俊 曾勇 李翠明

张鹏, 龚俊, 曾勇, 李翠明. 面向大曲率曲面的喷涂机器人喷枪轨迹规划研究[J]. 机械科学与技术, 2015, 34(11): 1670-1674. doi: 10.13433/j.cnki.1003-8728.2015.1106
引用本文: 张鹏, 龚俊, 曾勇, 李翠明. 面向大曲率曲面的喷涂机器人喷枪轨迹规划研究[J]. 机械科学与技术, 2015, 34(11): 1670-1674. doi: 10.13433/j.cnki.1003-8728.2015.1106
Zhang Peng, Gong Jun, Zeng Yong, Li Cuiming. Optimizing Trajectory of Painting Robot's Spray Gun for Large Curvature Surface[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(11): 1670-1674. doi: 10.13433/j.cnki.1003-8728.2015.1106
Citation: Zhang Peng, Gong Jun, Zeng Yong, Li Cuiming. Optimizing Trajectory of Painting Robot's Spray Gun for Large Curvature Surface[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(11): 1670-1674. doi: 10.13433/j.cnki.1003-8728.2015.1106

面向大曲率曲面的喷涂机器人喷枪轨迹规划研究

doi: 10.13433/j.cnki.1003-8728.2015.1106
基金项目: 

国家自然科学基金项目(51165022)资助

详细信息
    作者简介:

    张鹏(1982-),博士研究生,研究方向为面向大曲率曲面的喷涂机器人喷枪轨迹优化关键技术,zhangpeng.820718@163.com

    通讯作者:

    龚俊,教授,博士生导师,1271498057@qq.com

Optimizing Trajectory of Painting Robot's Spray Gun for Large Curvature Surface

  • 摘要: 为提高机器人喷涂大曲率曲面的效果,首先基于曲面特性建立大曲率曲面数学表达模型,对其进行分片造型,并生成面片喷枪轨迹,最后建立优化目标函数实现轨迹优化;为了解决大曲率曲面分片后面片间的轨迹组合问题,降低算法中参数的使用,消除相应的除梯度信息,运用粒子群优化算法的思想,制定了算法程序技术路线,并依此编写了优化喷枪轨迹的算法程序。实验证明了该算法的高效性和适用性,达到了提高大曲率曲面喷涂效果的目的。
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出版历程
  • 收稿日期:  2013-12-04
  • 刊出日期:  2015-11-05

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