关键词: 轨迹规划, 表面喷涂, 遗传算法, 均匀性

Abstract: Aiming at the uniformity of spray painting technology,based on the ellipse dual-β spraying model,a 3D coating accumulation rate model considering the distance between spray gun and workpiece surface was proposed with differential projection method,and a new automated robot trajectory planning method for double-layer spray painting was developed.In this method,the overlapping width between adjacent paths of first layer,the spray gun speed of first layer,the distance between spray gun and workpiece surface of second layer were taken as the optimization parameters,the coating thickness uniformity as the optimization goal function to make optimization,and the genetic algorithm was used to solve.According the simulation results of this method,the uniformity of coating thickness could be improved effectively on the flat and cylindrical surface,and the results of spray experiments had verified the feasibility and the effectiveness of method.

Key words: trajectory planning, spray painting, genetic algorithms, uniformity