基于Matlab的喷涂机器人喷涂轨迹规划设计
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摘要
为了解决陶瓷生产中釉层不均匀的问题,建立计算不同表面喷涂层厚度分布的数学模型,通过确定合适的间距来提高喷涂效率。对于平面喷涂,采用牛顿迭代法和最小二乘法拟合得到合适的喷涂间距,当相邻喷射轨迹之间的距离为122 mm时,高度误差可控制在2.273%。在平面喷涂的基础上,分析了平面与曲面的映射关系,并采用最小二乘自然二次曲面拟合方法将复杂表面拟合成规则的曲面,结果表明,当相邻喷雾轨道间距为91 mm时,高度误差可控制在10%内。
In order to solve the problem of uneven coating glaze in ceramic production,a mathematical model for calculating the thickness distribution of the sprayed layer of different machines on the surface is established,and the spraying efficiency is improved by determining the appropriate trajectory and spacing. First,for the planar spraying,the Newton iteration and least squares fitting are used to get the proper spacing. The results show that when the distance between adjacent spraying trajectories is 122 mm,the height error can be controlled at about 2.273%. On the basis of plane spraying,the mapping relationship between plane spraying and complex surface spraying is analyzed,and then the complex surface is fitted into regular circular surface by the least square natural quadric surface fitting method. The results show that the height error can be controlled within 10% when the distance between adjacent spraying trajectories is 91 mm.
In order to solve the problem of uneven coating glaze in ceramic production,a mathematical model for calculating the thickness distribution of the sprayed layer of different machines on the surface is established,and the spraying efficiency is improved by determining the appropriate trajectory and spacing. First,for the planar spraying,the Newton iteration and least squares fitting are used to get the proper spacing. The results show that when the distance between adjacent spraying trajectories is 122 mm,the height error can be controlled at about 2.273%. On the basis of plane spraying,the mapping relationship between plane spraying and complex surface spraying is analyzed,and then the complex surface is fitted into regular circular surface by the least square natural quadric surface fitting method. The results show that the height error can be controlled within 10% when the distance between adjacent spraying trajectories is 91 mm.
引文
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[2]吴洪键,刘敏,邓思豪,等.涂层厚度数学模型的建立及喷涂轨迹间距优化[J].热加工工艺,2017,46(16):128-132.
[3]潘洋,冉全,邹梦麒.喷涂机器人的喷涂轨迹规划[J].武汉工程大学学报,2018,40(3):333-339.
[4]李发忠.静电喷涂机器人变量喷涂轨迹优化关键技术研究[D].镇江:江苏大学,2012.
[5]陈伟,赵德安,李发忠.复杂曲面的喷涂机器人喷枪轨迹优化与试验[J].农业机械学报,2011,42(1):204-208.
[6]陈雁,颜华,王力强,等.机器人匀速喷涂涂层均匀性分析[J].清华大学学报(自然科学版),2010,50(8):1210-1213+1218.
[7]李发忠,赵德安,张超,等.基于CAD的喷涂机器人轨迹优化[J].农业机械学报,2010,41(5):213-217.
[8]陆保印.喷涂机器人喷枪轨迹设计与优化研究[D].兰州:兰州理工大学,2010.
[9]陈雁,邵君奕,张传清,等.喷涂机器人自动轨迹规划研究进展与展望[J].机械设计与制造,2010(2):149-151.
[10]陈伟华,张铁.喷涂机器人连续直线轨迹规划的研究[J].机械设计与制造,2009(8):178-180.
[11]陈伟华,张铁,周伟,等.喷涂机器人轨迹规划的研究[J].机床与液压,2009,37(3):16-17+82.