阀门喷涂机器人的轨迹规划与优化求解

为对特定阀门工件的外表自由曲面进行精确喷涂，提出以阀门外形尺寸和机器人本体结构为约束条件，对喷涂 机器人的工作空间进行了合理优化。利用MATLAB对多变量有约束非线性函数优化求解，得到了机器人主连杆杆长以 及相应的关节转角范围；对阀门进行了参数描述，并建立喷涂轨迹路径数学模型；通过基于ADAMS的虚拟样机建模、运 动仿真和MATLAB数值求解的相互协同和相互验证，得到了合理的关节角逆解。通过优化后的逆解进行仿真喷涂验证 了轨迹规划和优化求解方法的合理性。

Trajectory Planning and Optimal Solution of Valve Spraying Robot

Research on the issues of precise spraying for the free surface aimed at specific valve, under the constraints of the shape dimensions of the valve and the structure of the robot, the working space of the spraying robot is optimized. By using MATLAB to solve the optimization problem of constrained nonlinear function, the length of the main rods and the corresponding range of the robot joint angles were obtained. The parameters of the valve were described and the mathematical model of the spray trajectory was established. Based on mutual cooperation and mutual verification by the ADAMS virtual prototype modeling, motion simulation and MATLAB numerical solution,reasonable the inverse solution ofjoint angles were obtained. Through the optimization of the inverse solution for simulation spraying, verified the trajectory planning and optimization of the solution method are reasonable.