Study On Variable Spray Trajectory Planning For Large Curvature Curved Surface Spraying Robot

In this paper,in view of the poor uniformity of coating and low spraying efficiency in the vertical spraying of curved surface robot with large curvature,the problems of the thickness model of the static spraying coating with variable inclination angle,the path planning of the complex free surface spraying and the optimization method of the continuous dip angle spraying trajectory are systematically studied.The main contents of this paper are as follows:The mathematical model of the vertical spray gun was proposed.Several models of the vertical spray coating cumulative rate were discussed.The spray gun model on the surface was established,and the β-distribution equation of the coating was fitted by the least squares method to establish a circle.A coating growth rate model on the arc surface was used to establish a mathematical model of the variable-angle spray gun.The coating model was used to modify the parameters of the vertical spray coating thickness model using the differential geometric amplification principle to obtain a static coating thickness model with variable inclination angle.To study the complex free surface spraying trajectory path generating method,the small curvature on the natural surface in accordance with the rest to each another evenness trajectory planning method of subdivision modeling,spraying trajectory planning after the shard rest each another,finally integrate natural surface spray gun.For comp lex free surface using the method of triangle mesh at the normal vector of triangles as constraint conditions are the topological connection,rest by using boundary box planning another spray gun trajectory,and the composite surface boundary horns in spray gun trajectory optimization.Finally,in the method of optimizing the outer sill angle spray trajectory of continuous variable pitch angles,a continuous variable pitch angle variable spray technique was used to plan the spray trajectory.Based on the coating growth rates at different dip angles,a coating thickness model for continuous variable pitch and constant pitch spray zones was established.The trajectory parameters affecting the coating uniformity were optimized by the coating distribution model established in the variable-angle spray coating process.Finally,the effectiveness and feasibility of the proposed method were verified by simulation experiments.