关键词: 复杂曲面, 机器人, 喷涂, 遗传算法, 轨迹优化

Abstract: Aiming at the problem that the quantitative evaluation index of complex surface spraying trajectory was not perfect,a comprehensive optimization method of complex surface spraying trajectory based on multi-factor model and multi-scale genetic algorithm was proposed.Combined with the spraying quality and the motion performance of the robot,the influencing factors of the robot spraying trajectory were analyzed comprehensively,and the multi-factor model of the spraying trajectory was constructed.Then the weight of model factors was determined by using analytic hierarchy process,and the spraying trajectory was evaluated quantitatively.The multi-scale and dynamic evolution strategy was used to improve the genetic algorithm,and the multi-scale genetic algorithm was defined.The multi-scale genetic algorithm was applied to the spraying trajectory optimization of complex surface.The case indicated that the comprehensive evaluation index of spraying trajectory was significantly improved,which could effectively solve the problem of off-line planning of spraying trajectory for complex surfaces.

Key words: complex surface, robot, spraying, genetic algorithms, trajectory optimization