Analysis and Experiment on Coating Thickness Model of Robot Spraying
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摘要: 针对当前建立的机器人喷涂模型对复杂数据分析拟合能力较弱的问题,本文从喷涂漆膜沉积机理出发,深入研究并分析了机器人喷涂沉积厚度模型,以静态喷涂厚度建模方法为基础,提出了椭圆双高斯和模型,并使用单通道厚度建模方法和多通道厚度建模方法,研究了其动态涂层膜厚的分布规律。通过喷涂试验分析并求解了所建模型的参数,进而以此模型建立得到静态喷涂膜厚分布图。通过试验结果与理论数据之间的对比验证,进一步证实了该模型的有效性和实用性。Abstract: Aiming at the problem that the currently established robot spraying model has weak ability to analyze and fit complex data, this paper deeply studied and analyzed the robot spraying deposition thickness model based on the spraying film deposition mechanism. Based on the static spraying thickness modeling method, an elliptical double Gaussian sum model was proposed, and the distribution law of dynamic coating thickness was studied by using single channel thickness modeling method and multi-channel thickness modeling method. The parameters of the model were analyzed and solved through the spraying test, and then the static spraying film thickness distribution was established based on the model. The effectiveness and practicability of the model were further confirmed by the comparison between the experimental results and the theoretical data.
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表 1 x轴方向涂膜厚度分布情况
Table 1. Film thickness distribution in x-axis direction
坐标/mm 膜厚/μm 平均膜厚/μm 1 2 3 −120 6.5 7.3 8.2 7.3 −100 31.3 32.8 32.4 32.1 −80 42.9 43.1 43.5 43.1 −60 54.1 53.7 53.9 53.9 −40 59.1 59.3 58.9 59.1 −20 63.4 62.9 63.1 63.1 0 65.2 65.7 65.9 65.6 20 63.1 63.5 63.2 63.2 40 58.9 59.3 59.1 59.1 60 53.1 53.9 53.8 53.6 80 43.6 43.5 44.1 43.7 100 32.4 32.3 31.9 32.2 120 6.8 7.2 7.9 7.3 表 2 y轴方向涂膜厚度分布情况
Table 2. Film thickness distribution in y-axis direction
坐标/mm 膜厚/μm 平均膜厚/μm 1 2 3 −60 7.3 8.2 8.9 8.1 −40 16.5 17.3 16.2 16.7 −20 49.2 50.4 48.5 49.3 0 65.3 66.2 65.4 65.6 20 50.2 48.7 53.1 50.6 40 16.3 18 16.6 17.0 60 7.5 8.1 8.4 8.0 表 3
x轴方向模厚误差 Table 3. Film thickness error in x-axis direction
坐标/mm 绝对平均误差/μm 相对平均误差/μm −120 3.9 0.53 −100 3.8 0.12 −80 1.0 0.02 −60 1.3 0.02 −40 1.0 0.02 −20 1.8 0.03 0 0.9 0.01 20 1.7 0.03 40 1.0 0.02 60 1.0 0.02 80 1.6 0.04 100 3.9 0.12 120 3.9 0.53 表 4 y轴方向模厚误差
Table 4. Film thickness error in y-axis direction
坐标/mm 绝对平均误差/μm 相对平均误差/μm −60 3.2 0.40 −40 1.9 0.10 −20 0.5 0.01 0 1.3 0.02 20 1.8 0.04 40 1.6 0.09 60 3.1 0.39 -
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