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Abstract
In this research, a novel method of space spraying trajectory optimization is proposed for 3D entity spraying. According to the particularity of the three-dimensional entity, the finite range model is set up, and the 3D entity is patched by the surface modeling method based on FPAG (flat patch adjacency graph). After planning the spray path on each patch, the variance of the paint thickness of the discrete point and the ideal paint thickness is taken as the objective function and the trajectory on each patch is optimized. The improved GA (genetic algorithm), ACO (ant colony optimization), and PSO (particle swarm optimization) are used to solve the TTOI (tool trajectory optimal integration) problem. The practicability of the three algorithms is verified by simulation experiments. Finally, the trajectory optimization algorithm of the 3D entity spraying robot can improve the spraying efficiency.
Highlights
With the development of the social economy and the improvement of life, people have higher requirements for product quality and product appearance
For a 3D entity with concave surfaces (Figure 1a), the research on the spraying modeling technology and the surface modeling method based on the plane patch adjacency trajectory optimization for the robot in this field is still a blank as the shape of the entity is complex graph (FPAG) for modeling
It can be seen from the results that the total length of the spray trajectory using the Particle swarm optimization (PSO) algorithm is the shortest, the spray painting time is the least, and the execution time of the system operation is the longest, which is within the allowable range in the practical application
Summary
With the development of the social economy and the improvement of life, people have higher requirements for product quality and product appearance. For a 3D entity with concave surfaces (Figure 1a), the research on the spraying modeling technology and the surface modeling method based on the plane patch adjacency trajectory optimization for the robot in this field is still a blank as the shape of the entity is complex graph (FPAG) for modeling. Considering that the expressions of these models are rather optimized trajectories of the spray painting robot on the 3D entities are formed eventually. The amount the paint obtained at the point, s, on the workpiece surface can be Before building a finite-scope model, we made the following assumptions: The paint particles expressed by the following equation: sprayed by the paint gun form a cone in space. It is related to the coordinates of the point, s, on the workpiece surface, the position, p(t), and direction, o(t), of the paint gun, which can be defined as:.
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