摘要目前，喷涂机器人在汽车行业已经得到了广泛的应。那么，随之而来的喷涂机器人的轨迹优化问题就得到控制界的广泛关注。本文就汽车内腔的的喷涂轨迹优化问题做了具体的研究，共分为五章。86138

在第一章中，主要介绍了喷涂机器人的发展历史，发展背景，喷涂机器人的发展进度；国内外对于喷涂机器人研究现状，其中，国内的喷涂机器人发展还是相对落后；还有使用喷涂机器人的主要的六个步骤。

在第二章中，主要是对喷涂机器人的硬件结构的介绍。其中包括喷涂机器人的结构、种类、优点以及选型介绍。

在第三章中，主要研究的是汽车内腔的喷涂曲面的建模方法。由于汽车内腔的曲面大多为复杂曲面，所以需要将复杂曲面进行分片，以此来简化优化问题。本章共叙述了两种分片方法，即三角网格分片法和点云切片法，并对这两种方法如何应用于汽车内腔的复杂曲面做了具体的阐述。

在第四章中，主要研究的是汽车内腔的空间喷涂轨迹的生成与优化。首先是利用第三章所阐述的复杂曲面的分片方法对汽车内腔的复杂曲面分片，然后在此基础上进行汽车内腔的喷涂轨迹的设计，最后再进行汽车内腔的喷涂轨迹的优化，并且按照喷涂轨迹的位置关系分了三种情况讨论如何优化轨迹。

在第五章中，通过选取一块汽车车门的内表面，对其进行仿真，以此来验证本文所述算法的正确性。

最后的仿真实验结果证明，本文所提算法可以应用到汽车内腔的喷涂轨迹中，并且可以得到较好的喷涂效果。

毕业论文关键词：喷涂机器人;汽车内腔;复杂曲面;轨迹优化;实验仿真。

Abstract At present, spraying robot has been widely used in the automotive industry。 Then, the trajectory optimization problem of spray robot is widely concerned by the control field。 This paper makes a detailed study on the spray trajectory optimization of the inner cavity of the vehicle, and is pided into five chapters。

In the first chapter。 It mainly introduces the spraying robot's development history, development background, progress in the development of robot spraying; at home and abroad for spraying robot research。 Among them, the spraying robot development is relatively backward; as well as the use of spraying robot of the six major steps。

In the second chapter, mainly introduces the hardware structure of the spraying robot。 The structure, types, advantages and type selection of spraying robot are introduced。

In the third chapter, the main research is the modeling method of the spraying surface of the inner cavity of the automobile。 Because the surface of the automobile cavity is mostly complex surface, it is necessary to pide the complex surface in order to simplify the optimization problem。 In this chapter, we describe two kinds of methods, namely, the triangular mesh method and the point cloud slicing method, and the two methods are applied to the complex curved surface of the inner cavity of the automobile。

In the fourth chapter, the main research is the generation and optimization of the space spray trajectory of the inner cavity of the automobile。 First is the third chapter described the complex surface of the slice method for automobile inner complex curved surface slice, then based on automobile inner spraying trajectory design and the automobile inner spraying trajectory optimization, and spraying position in relation to the trajectory is pided into three cases discussed how to optimize the trajectory according to。

In the fifth chapter, the simulation is carried out by selecting the surface of the inner cavity of an automobile, which is used to verify the correctness of the algorithm。

Finally, the simulation results show that the proposed algorithm can be applied to the spray trajectory of the inner cavity of the vehicle, and can get a better effect。