Meridian trajectory optimization of spray painting robot for spherical surface

摘要

Owing to the defects,which is brought in the complex free-form surfaces,of the reaching for optimization about spray track on the spherical surface,we get the model of coating growth rate by the spraying experiments,and based on using the advantages of planning the spray gun trajectory on surfaces by geodesic,we adopt the meridian of earth to plan the trajectory of spray gun on spherical surface.Based on the characteristics of meridian line to plan the trajectory of spray gun,subdivide for spherical surface using bounding -box and given the method of trajectory generated. We discuss the calculation methods for the coating thickness on each piece and the optimization of spray parameters.The simulation experiment results demonstrate that it method can effectively ensure the uniformity of the coating thickness and given the relationship between spraying speed and spacing distance and spraying radius.