Robot-automated spraying is widely used in various fields,such as the automotive,metalworking,furniture,and aero-space industries.Spraying quality is influenced by multiple factors,including robot speed,acceleration,e...Robot-automated spraying is widely used in various fields,such as the automotive,metalworking,furniture,and aero-space industries.Spraying quality is influenced by multiple factors,including robot speed,acceleration,end-effector trajectory,and spraying process constraints.To achieve high-quality spraying under the influence of multiple factors,this study proposes a multi-objective optimization method for the spraying trajectory that integrates spraying process constraints into the optimization process.First,a 7-degree-of-freedom rigid-flexible coupling serial spray painting robot system is introduced,which includes a motion decoupling mechanism and a tension amplification mechanism.Subsequently,a paint deposition model for the spray gun was established,and the influence of process constraints on spraying quality was analyzed.Trajectory planning for the spray painting robot,based on the septic B-spline interpolation method,was then performed.Based on this foundation,objective functions and constraint equations for spraying trajectory optimization were established.A multi-objective trajectory optimization method for spraying by the robot is proposed based on the NSGA-Ⅱ,which integrates the spraying process constraints.Finally,a prototype system of a 7-degree-of-freedom rigid-flexible coupling serial spray painting robot was constructed.Simulations and spraying experiments were conducted to verify the effectiveness of the proposed multi-objective trajectory optimization method.This paper presents a multi-objective optimization method for the spraying trajectory of a robot.In the proposed method,the optimized spraying trajectory is generated with the spraying process as the constraint and time,energy consumption,and impact during the spraying operation of the robot as the optimization objectives.展开更多
Ceramics in China has thousands of years of history, fragile is the natural properties of ceramics, then the ceramic rcpan technology has become China＇s ceramic history and crafts history of one of the important cont...Ceramics in China has thousands of years of history, fragile is the natural properties of ceramics, then the ceramic rcpan technology has become China＇s ceramic history and crafts history of one of the important content. Jinshan is a way to rcpai, porcelain with lacquer art. with a strong decorative. With a near perfect means to lace the imperfect, to create a magnificent art boutique.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52335002,51925502)。
文摘Robot-automated spraying is widely used in various fields,such as the automotive,metalworking,furniture,and aero-space industries.Spraying quality is influenced by multiple factors,including robot speed,acceleration,end-effector trajectory,and spraying process constraints.To achieve high-quality spraying under the influence of multiple factors,this study proposes a multi-objective optimization method for the spraying trajectory that integrates spraying process constraints into the optimization process.First,a 7-degree-of-freedom rigid-flexible coupling serial spray painting robot system is introduced,which includes a motion decoupling mechanism and a tension amplification mechanism.Subsequently,a paint deposition model for the spray gun was established,and the influence of process constraints on spraying quality was analyzed.Trajectory planning for the spray painting robot,based on the septic B-spline interpolation method,was then performed.Based on this foundation,objective functions and constraint equations for spraying trajectory optimization were established.A multi-objective trajectory optimization method for spraying by the robot is proposed based on the NSGA-Ⅱ,which integrates the spraying process constraints.Finally,a prototype system of a 7-degree-of-freedom rigid-flexible coupling serial spray painting robot was constructed.Simulations and spraying experiments were conducted to verify the effectiveness of the proposed multi-objective trajectory optimization method.This paper presents a multi-objective optimization method for the spraying trajectory of a robot.In the proposed method,the optimized spraying trajectory is generated with the spraying process as the constraint and time,energy consumption,and impact during the spraying operation of the robot as the optimization objectives.
文摘Ceramics in China has thousands of years of history, fragile is the natural properties of ceramics, then the ceramic rcpan technology has become China＇s ceramic history and crafts history of one of the important content. Jinshan is a way to rcpai, porcelain with lacquer art. with a strong decorative. With a near perfect means to lace the imperfect, to create a magnificent art boutique.
