摘要喷涂机器人是近段时间非常热门的工业喷涂装置，无论是国内还是国外，喷 涂机器人的运用已经相当普及。喷涂机器人的喷涂效率和喷涂效果和多种因素相 关，所以在当今的发展背景下，新的优化算法研究已经迫在眉睫。本文由以下几 个部分组成： 83772

第一部分首先介绍了课题“乘用车车身干涉区喷涂机器人轨迹优化”的研究 背景和意义，对喷涂机器人离线编程系统做了简单介绍，国内外研究现状及存在 的问题，本文的研究目标和主要工作。 

第二部分对喷涂机器人的组成硬件做了简单介绍，其中介绍了机器人主体、 机器人控制器、机器人工艺控制。 

第三部分介绍了平面和规则平面上的优化方法，首先写出平面的函数表达式， 接着运用现成的涂层累积速率模型以任一点上的涂层厚度的方差最小为优化目 标对指定的空间路径进行优化。 

第四部分介绍了自由曲面上的喷涂机器人喷枪轨迹优化方法，因为如果采用 上一部分的办法，那么涂层速率累积函数过于复杂，所以本文采用实际数据采集 的办法建立一个简单的涂层速率累积速率模型，再根据所建立的模型分析各种数 据，从而得到自由曲面上的涂层厚度模型，那么喷枪的空间路径就可以得出，再 由多目标优化进行路径优化。 

第五部分为仿真实验，运用 Robotstudio 和 Matlab 来对车门干涉区进行优 化和非优化的数据对比，从而得到轨迹优化的必要性。 

毕业论文关键词：喷涂机器人；喷枪轨迹优化；涂层累积速率模型；规则平面；自由曲面 

Abstract Painting robot is a very popular industrial painting device in recent time, both at home and abroad, the application of painting robot has been widely used。 The painting efficiency of painting robot is related to many factors, so it is very important to study the new optimization algorithm in the background of the current development。 This paper consists of the following parts:

The first part introduces the background and significance of the research, and makes a brief introduction to the off-line programming system of the painting robot, the research status and existing problems at home and abroad, the research objectives and main work of this paper。

In the second part, a brief introduction is made to the composition of the painting robot, including the robot body, the robot controller and the process control of the robot。 The third part introduced optimization method for plane and regular plane, first write down the plane as a function of expression, then use off the shelf coating accumulation rate model to any point on the coating thickness of minimum variance as

the optimization target, to optimize the specified path in space。

The fourth part introduces the free surface painting robot spray gun trajectory optimization method, because the coating rate by way of a part of the accumulation function is too complex。 Therefore, this paper uses actual data collection approach to establish a simple coating speed accumulation rate model, according to the established model to analyze all kinds of data to obtain free comprehensive on the coating thickness model, then the path space gun can be obtained by the multi-objective optimization of path optimization。

The fifth part is the simulation experiment, using Robotstudio and Matlab to optimize the data contrast between the door and the door, and the necessity of trajectory optimization。

Keywords: Painting robot,；spray gun trajectory optimization,；coating accumulation rate model,；free-form surfaces；regular plane

目 录 

第一章 绪论 1

1。1 课题研究背景和意义