本文選題：復(fù)雜曲面噴涂 + 曲面分片��； 參考：《東南大學(xué)》2016年碩士論文

【摘要】：本論文課題以“高檔數(shù)控機(jī)床與基礎(chǔ)制造設(shè)備”國(guó)家重大科技專項(xiàng)“15kg噴涂機(jī)器人成套裝備”項(xiàng)目為背景,研究并實(shí)現(xiàn)面向復(fù)雜曲面的噴涂機(jī)器人作業(yè)規(guī)劃方法。由于復(fù)雜自由曲面表面特征不同于一般的平面與拉伸曲面,本文研究并實(shí)現(xiàn)一種新的方法來解決復(fù)雜曲面上的噴涂機(jī)器人作業(yè)規(guī)劃問題,該方法分為三個(gè)部分：曲面分片、子片噴涂路徑規(guī)劃和子片連接。復(fù)雜自由曲面幾何特征(形狀、曲率等)和拓?fù)涮卣?孔洞等)復(fù)雜,這些都增加了噴涂路徑規(guī)劃的難度。因此本文首先分析曲面上的拓?fù)涮卣骱蛶缀翁卣?然后對(duì)曲面分片,將復(fù)雜自由曲面分割為若干具有簡(jiǎn)單拓?fù)涮卣髋c幾何特征的簡(jiǎn)單子曲面。對(duì)于曲面上有孔洞等情形,采用投影法,對(duì)曲面進(jìn)行拓?fù)浞制?把曲面分成幾個(gè)獨(dú)立的子片,每一片上不包含孔洞；對(duì)于包含圓孔這樣的特殊工件,本文通過選取兩個(gè)特殊平面將曲面分割成幾個(gè)獨(dú)立的子片,進(jìn)行拓?fù)浞制�。其次每一分片上可能曲率變化�?通過設(shè)置相鄰角閾值和最大背離角,對(duì)其進(jìn)行幾何分片,使得每一分片上的曲率接近,變化不大。曲面分片之后,通常每一子片并不是平面,其曲率在各方向上都可能變化,為此,針對(duì)復(fù)雜曲面論文研究并實(shí)現(xiàn)了一種基于種子曲線、變速變間距的噴涂路徑規(guī)劃方法以進(jìn)一步提高噴涂效果。首先確定曲面上一條曲線作為種子曲線,以該種子曲線作為基準(zhǔn)線,平移得到曲面上所有噴涂行程。種子曲線選擇的原則是,規(guī)劃好之后曲面上的行程盡量少,而且行程之間不會(huì)相交。然后,將每一行程分段,每一段上速度不同,通過對(duì)分段速度優(yōu)化,使得行程方向涂層累積速率近似不變。再對(duì)行程間距優(yōu)化,考慮到多條行程對(duì)同一點(diǎn)膜厚會(huì)產(chǎn)生影響,這里同時(shí)對(duì)4條行程優(yōu)化,提高噴涂規(guī)劃準(zhǔn)確性。由于速度優(yōu)化與間距優(yōu)化,都是針對(duì)多變量的,采用BOBYQA優(yōu)化方法,得到所有行程間距以及每一條行程上的分段速度,進(jìn)而得到子片上的噴槍路徑。在子片噴槍路徑規(guī)劃的基礎(chǔ)上,為了獲得完整的噴槍路徑,需要將這些獨(dú)立的子片路徑連接起來,經(jīng)過所有子片上的噴槍路徑,并且行進(jìn)的路徑最短。本文將子片路徑連接問題建模為廣義TSP問題模型,采用蟻群算法來得到優(yōu)化解,進(jìn)而連接子片噴槍路徑間的起點(diǎn)與終點(diǎn),形成一條完整的噴槍路徑,并生成中間語(yǔ)言程序。蟻群算法與之前采用的啟發(fā)式搜索算法如遺傳算法相比,收斂速度更快,而且排序優(yōu)化結(jié)果更好即連接路徑的長(zhǎng)度更短,這些優(yōu)勢(shì)在子片噴涂路徑數(shù)量增加時(shí)更明顯。最后針對(duì)典型工件,仿真驗(yàn)證噴涂路徑規(guī)劃與參數(shù)優(yōu)化的噴涂結(jié)果。本文完成了面向復(fù)雜自由曲面的噴涂機(jī)器人作業(yè)規(guī)劃方法研究與實(shí)現(xiàn),該方法能夠針對(duì)復(fù)雜自由曲面,規(guī)劃出噴槍路徑,經(jīng)噴涂作業(yè)規(guī)劃系統(tǒng)仿真驗(yàn)證,能較好地滿足項(xiàng)目需求。
[Abstract]:Based on the project of "High-grade NC Machine tool and basic Manufacturing equipment" and "15kg spray Robot complete equipment", the paper studies and realizes the operation planning method of spray-robot facing complex curved surface. Because the surface features of complex free-form surfaces are different from those of general plane and stretch surfaces, this paper studies and implements a new method to solve the problem of job planning of spray-robot on complex surfaces. The method is divided into three parts: surface segmentation. Subblade spray path planning and sub-strip connection. The geometric features (shape, curvature, etc.) of complex free-form surfaces and topological features (holes, etc.) are complex, all of which increase the difficulty of spray path planning. In this paper, we first analyze the topological and geometric features of surfaces, and then divide the complex free-form surfaces into several simple subsurfaces with simple topological and geometric features. In the case of a hole in a curved surface, the surface is topologically divided into several separate subslices, each of which does not contain holes, and for a special workpiece such as a circular hole, In this paper, two special planes are selected to divide the surface into several independent subslices. Secondly, the possible curvature changes greatly on each slice. By setting the threshold of adjacent angle and the maximum deviation angle, the geometric partition is carried out to make the curvature of each slice close, and the change is not significant. After the surface is partitioned, each subslice is usually not a plane, and its curvature may change in every direction. Therefore, a seed curve based on the complex surface is studied and implemented in this paper. The spray path planning method with variable speed and variable spacing is used to further improve the spraying effect. First, a curve on the surface is determined as the seed curve, and the seed curve is used as the datum line, and all spray stroke on the surface is obtained by translation. The principle of seed curve selection is that there are as few trips on the surface as possible after planning, and there is no intersecting between them. Then, the speed of each stroke segment and each section is different, and the cumulative rate of the coating is approximately unchanged by optimizing the segmented velocity. Considering the influence of multiple stroke on the thickness of film at the same point, four strokes are optimized at the same time to improve the accuracy of spray planning. Because velocity optimization and spacing optimization are all aimed at multivariable, using BOBYQA optimization method, we can get all travel distance and the segmented velocity on each stroke, and then get the spray gun path on the sub-chip. On the basis of the path planning of the sub-piece spray gun, in order to obtain the complete spray gun path, these independent sub-slice paths need to be connected together, passing through all the spray gun paths on the sub-slices, and the path is the shortest. In this paper, the subslice path connection problem is modeled as the generalized tsp problem. Ant colony algorithm is used to obtain the optimal solution, and then the starting point and the end point between the sub-slice spray gun paths are connected to form a complete spray gun path and generate the intermediate language program. Compared with the previous heuristic search algorithm such as genetic algorithm, ant colony algorithm has faster convergence speed and better ranking optimization result, that is, the length of connection path is shorter. These advantages are more obvious when the number of spraying paths increases. Finally, the results of spraying path planning and parameter optimization are verified by simulation for typical workpieces. This paper has completed the research and implementation of the job planning method for the complex free-form surface spraying robot. The method can plan the spray gun path for the complex free-form surface, and it is verified by the simulation of the spraying job planning system. Be able to meet project requirements well.
【學(xué)位授予單位】：東南大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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