Abstract:To solve the problem of trajectory combination and connection of spraying robot for large curvature combination surfaces, combined with surface fitting theory and modeling method of spray gun, the trajectory optimization model of spray gun was established , and the algorithmic program was put forward to satisfy the spray gun trajectory from beginning to end. First, the large curvature of composite surface was transformed to natural quadric combination curved surface patches with the theory of surface fitting. Based on the coating growth model built, the trajectory was optimized for the natural quadric juncture of different types. Secondly, based on the model and the idea of exchange and the exchange of the sequence, the new algorithm was designed to solve the problem of trajectory combination. The corresponding algorithm program was written to realize the global optimization of spray trajectory. Finally, the validity of the model and the feasibility of the algorithm were verified by the spraying experiment of a certain kind of car shell. The continuous spraying large curvature composite surface was realized.
