喷涂机器人静电旋杯的新模型
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摘要
旋杯的累积速率模型以及涂料投射模型是喷涂机器人离线编程轨迹规划的重要基础。针对累积速率模型,建立了一种新的模型——双偏置β模型,该模型既能表示满月形模型,也能表示局部非对称的圆环形模型。在此基础上,分析了新模型的匀速喷涂厚度模型,为离线编程的轨迹规划做准备;针对涂料投射模型,推导出了涂料投射模型为任意函数模型时,工件曲面上某点累积速率与基准面上对应点累积速率的关系,并结合实验数据构建了基于正态分布的曲线投射模型。经证明,此模型更符合实际情况。
The cumulative rate model and paint projection model were the important basis for off-line programming of spray robots. For the cumulative rate model, a double offset β model was established. The model might represent both of the full moon model and the locally asymmetric ring type model. Based on this analysis, the uniform velocity spray thickness model of the new model was analyzed, which was prepared for the trajectory planning of off-line programming. For the paint projection model, the functional relationship between accumulation rate of a point on workpiece surfaces and accumulation rate of corresponding point was deduced when the coating projection model was arbitrary function model. Then combined with the experimental data, a curve projection model was proposed based on normal distribution. The experiments prove that this model is more consistent with the actual situations.
The cumulative rate model and paint projection model were the important basis for off-line programming of spray robots. For the cumulative rate model, a double offset β model was established. The model might represent both of the full moon model and the locally asymmetric ring type model. Based on this analysis, the uniform velocity spray thickness model of the new model was analyzed, which was prepared for the trajectory planning of off-line programming. For the paint projection model, the functional relationship between accumulation rate of a point on workpiece surfaces and accumulation rate of corresponding point was deduced when the coating projection model was arbitrary function model. Then combined with the experimental data, a curve projection model was proposed based on normal distribution. The experiments prove that this model is more consistent with the actual situations.
引文
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[14]陈伟,赵德安,梁震.喷涂机器人的喷枪轨迹优化设计与实验[J].中国机械工程,2011,22(17):2104-2108.CHEN Wei,ZHAO De′an,LIANG Zhen.Design of Tool Path Planning of Robotic Spray Painting and Its Experiments[J].China Mechanical Engineering,2011,22(17):2104-2108.
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[17]CHEN H,SHENG W,XI N,et al.Automated Robot Trajectory Planning for Spray Painting of Free-form Surfaces in Automotive Manufacturing[C]//IEEE International Conference on Robotics and Automation.Washington D C,2002:450-455.
[18]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.LU Baoyin.Study on Design and Optimization of Spray-gun Trajectory for Spray-painting Robot[D].Lanzhou:Lanzhou University of Technology,2010.
[19]THORPE J A.Elementary Topics in Differential Geometry[M].Berlin:Springer-Verlag,1979:139-142.
[20]ROSS S M.A First Course in Probability Theory[M].8th ed.New Jersey:Pearson,2010:218.
[21]ARIKAN M A S,BALKAN T.Process Simulation and Paint Thickness Measurement for Robotic Spray Painting[J].CIRP Annals:Manufacturing Technology,2001,50(1):291-294.
[22]梅向明,黄敬之.微分几何[M]4版.北京:高等教育出版社,2008:75.MEI Xiangming,HUANG Jingzhi.Differential Geometry[M].4th ed.Beijing:Higher Education Press,2008:75.
[2]曾勇.大型复杂自由曲面的喷涂机器人喷枪轨迹优化研究[D].兰州:兰州理工大学,2011.ZENG Yong.The Research on the Spray Tool Trajectory Optimization of Painting Robot for Large and Complex Free-form Curved Surface[D].Lanzhou:Lanzhou University of Technology,2011.
[3]FREUND E,ROKOSSA D,ROSSMANN J.Process Oriented Approach to an Efficient Off-line Programming of Industrial Robots[C]//24th Conference of the IEEE Industrial Electronics Society.Piscataway,1998:208-213.
[4]ANTONIO J K.Optimal Trajectory Planning for Spray Coating[C]//IEEE International Conference on Robotics and Automation.Piscataway,1994:2570-2577.
[5]BALKAN T.Modeling of Paint Flow Rate Flux for Circular Paint Sprays by Using Experimental Paint Thickness Distribution[J].Mechanics Research Communications,1999,26(5):609-617.
[6]张永贵,黄玉美,高峰,等.喷漆机器人空气喷枪的新模型[J].机械工程学报,2006,42(11):226-233.ZHANG Yonggui,HUANG Yumei,GAO Feng,et al.New Model for Air Spray Gun of Robotic Spray Painting[J].Chinese Journal of Mechanical Engineering,2006,42(11):226-233.
[7]冯川,孙增圻.机器人喷涂过程中的喷炬建模及仿真研究[J].机器人,2003,25(4):353-358.FENG Chuan,SUN Zengqi.Models of Spray Gun and Simulation in Robotics Spray Painting[J].Robot,2003,25(4):353-358.
[8]曾勇,龚俊.面向自然二次曲面的喷涂机器人喷枪轨迹优化[J].中国机械工程,2011,22(3):282-290.ZENG Yong,GONG Jun.Trajectory Optimization of Spray Painting Robot for Natural Quadric Surfaces[J].China Mechanical Engineering,2011,22(3):282-290.
[9]曾勇,龚俊,陆保印.面向直纹曲面的喷涂机器人喷枪轨迹优化[J].中国机械工程,2010,21(17):2083-2089.ZENG Yong,GONG Jun,LU Baoyin.Trajectory Optimization of Spray Painting Robot for Ruled Surfaces[J].China Mechanical Engineering,2010,21(17):2083-2089.
[10]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.LI Fazhong.Research on Key Techniques of Robotic Spray Painting Trajectory Optimization[D].Zhenjiang:Jiangsu University,2012.
[11]王国磊,伊强,缪东晶,等.面向机器人喷涂的多变量漆膜厚度分布模型[J].清华大学学报(自然科学版),2017,57(3):324-330.WANG Guolei,YI Qiang,MIAO Dongjing,et al.Multivariable Coating Thickness Distribution Model for Robotic Spray Painting[J].Journal of Tsinghua University(Science and Technology),2017,57(3):324-330.
[12]COLBERT S A.Numerical Simulations of Droplet Trajectories from an Electrostatic Rotary-bell Atomizer[D].Philadelphia:Drexel University,2006.
[13]赵德安.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.ZHAO De’an.Research on Trajectory Optimization of Electrostatic Spray Robot with Variable Parameter[D].Zhenjiang:Jiangsu University,2012.
[14]陈伟,赵德安,梁震.喷涂机器人的喷枪轨迹优化设计与实验[J].中国机械工程,2011,22(17):2104-2108.CHEN Wei,ZHAO De′an,LIANG Zhen.Design of Tool Path Planning of Robotic Spray Painting and Its Experiments[J].China Mechanical Engineering,2011,22(17):2104-2108.
[15]CONNER D C,et al.Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces[J].IEEE Transactions on Automation Science&Engineering,2005,2(4):381-392.
[16]CONNER D C,et al.Development of DepositioModels for Paint Application on Surfaces Embedded in IR3 for Use in Automated Path Planning[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Lausanne,2002:1844-1849.
[17]CHEN H,SHENG W,XI N,et al.Automated Robot Trajectory Planning for Spray Painting of Free-form Surfaces in Automotive Manufacturing[C]//IEEE International Conference on Robotics and Automation.Washington D C,2002:450-455.
[18]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.LU Baoyin.Study on Design and Optimization of Spray-gun Trajectory for Spray-painting Robot[D].Lanzhou:Lanzhou University of Technology,2010.
[19]THORPE J A.Elementary Topics in Differential Geometry[M].Berlin:Springer-Verlag,1979:139-142.
[20]ROSS S M.A First Course in Probability Theory[M].8th ed.New Jersey:Pearson,2010:218.
[21]ARIKAN M A S,BALKAN T.Process Simulation and Paint Thickness Measurement for Robotic Spray Painting[J].CIRP Annals:Manufacturing Technology,2001,50(1):291-294.
[22]梅向明,黄敬之.微分几何[M]4版.北京:高等教育出版社,2008:75.MEI Xiangming,HUANG Jingzhi.Differential Geometry[M].4th ed.Beijing:Higher Education Press,2008:75.