Trajectory Planning And Control System Development Of A Hybrid Aerofoil Spraying Robot

Surface spraying of components is an important part during the process of aircraft manufacturing. The quality and efficiency of spraying are the key issues of the manufacturers. Presently, forein aviation manufacturers have begun to spray components by painting robot. It not only avoids harm to the workers, but also greatly improves the quality and efficiency of spraying operation. However, traditional manual spraying is still the main way of domestic counterpart. In recent years, by using spraying robots instead of painting workers has become the development trend of domestic aircraft industry with the improvement of technology. In this thesis, trajectory planning and control system development as the key technologies of sparying robot have been studied. Thereinto, the research object is a self-developed hybrid robot, and the workpiece is horizontal stabilizer of C919. The main contents of this thesis are as following:Firstly, anlysis the principle of high-speed rotated-bell electrostatic spraying. The thickness of deposition model of electrostatic spraying has been established based on ? distribution model. The simulation analyses of technical parameters, which may influence the quality of coating, identifies suitable parameters for horizontal tail spraying.Secondly, off-line programming of robot has been studied. Using the fruits of NC programming, a trajectory planning method based on CAD/CAM technology is proposed. Meanwhile, a path planning method based on STL file of workpiece is proposed to deal with special file format. Trajectory planning software is developed based on C++ in VS2010 platform. The feasibility of the two methods is validated by simulation analysis.Thirdly, principle and task of robot post-processing is illustrated. The research of spraying robot kinematics is carried out. According to the equivalence between hybrid model and serial model, the direct and inverse kinematics models are established based on D-H method. Post-processor is developed based on the models. On motion simulation analysis of robot, the tip position and posture information is obtain by inputing post code as the values of robot model. The precision of post-processor is validated by comparison between tip and trace point information.Lastly, IPC-motion controller-amplifier movement control schemes has been made. Painting circulation system and security guaranteening system are designed. Motion contol software and system monitoring software are developed. Control system servo parameters tuning and linkage adjusting have been completed. Rapidity, accuracy and stability of control system are demonstrated by response curve.