喷涂机器人离线编程的分析与应用

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1、江苏大学硕士学位论文paintingprocess．Andthenputforwardthecoordinatetransformationtheory，andgiveitsMatlabprogram．ConvertedtheoptimizatedSolidWorkspathtooff-lineprogrammingplatformROBOGUIDEtogeneratethepracticalsprayingrobotoff-lineprogram．Andgiventhesprayingtestdata，provethatthetrajectoryplan

2、ningandoptimizationmethodbasedonSolidWorksplatformisfeasible．Keywords：sprayingrobot，off-lineprogramming，trajectoryplanning，trajectoryconversion，ROBOGUIDE，SolidWorks江苏大学硕士学位论文目录第一章绪论·······························································11．1课题的研究背景与意义·······················

3、·······················11．2喷涂机器人离线编程系统的简介······································31．3国内外的研究现状及问题············································51．4本文的主要研究目标与工作··········································7第二章涂料积累的数学模型················································92．1引言··················

4、············································92．2静电喷涂原理······················································92．3涂层的积累速率模型················································102．4自由曲面上的涂料积累模型··········································132．5本章小结············································

5、··············15第三章喷涂路径的规划和生成··············································163．1弓l言······························································163．2一种基于法向量的曲面划分法········································163．3区域划分实验····················································193．4单片区域上的轨迹规划

6、··············································213．5单片区域上喷涂轨迹生成的方法····································233．6基于SolidWorks的喷涂轨迹生成实验··································273．7本章小结··························································3l第四章喷涂轨迹的优化·········································

7、············334．1引言······························································334．2平面上的喷涂轨迹优化··············································334．3边界区域的喷涂轨迹优化············································364．4自由曲面的喷涂轨迹优化············································424．5喷涂轨迹优化实验······

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