基于喷涂机器人喷涂质量的轨迹规划仿真研究

Research on Trajectory Planning Simulation Based on Spraying Quality of Spraying Robot

摘要: 随着科学技术的快速发展，喷涂机器人被广泛应用到自动化汽车生产线、家具等现代智能化表面喷涂作业。在机器人进行喷涂作业的过程中，传统的轨迹规划方法并不会直接考虑到喷涂质量的因素，本文基于涂层厚度采用椭圆双β分布模型，分析喷枪喷涂过程中的喷涂间距，通过仿真分析不同间距下的涂层厚度，获得最佳喷涂间距；在喷涂涂层质量得到一定保证的情况下，通过划分喷涂区域，提出基于喷涂质量的喷涂轨迹方法，最后通过在仿真环境进行实验，结果表明喷枪喷涂路径能够平稳执行。

Abstract: With the rapid development of science and technology, spraying robots are widely used in automated automotive production lines, furniture and other modern intelligent surface coating operations. In the process of robot spraying operation, the traditional trajectory planning method does not directly consider the factors of spraying quality. In this paper, the elliptic double beta distribution model is used to analyse the spraying spacing of the spraying process, and the optimal spraying spacing is obtained by simulating and analysing the coating thickness under different spacing; in the case that the quality of the sprayed coating is guaranteed to a certain extent, the spraying area is divided and the spraying track method based on the quality of the spraying is proposed, and finally experiments are carried out in the simulation environment, which shows that the spraying path of the spraying gun can be smoothly executed.