凸起凹陷特征表面的机器人变位姿喷涂涂层均匀性优化研究

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关键词：喷涂机器人；变倾角喷涂；轨迹优化；凸起凹陷特征；膜厚精度中图分类号：TP242DOI：10.3969/j.issn.1004-132X.2025.11.027

Abstract： Aiming at the problems of optimizing coating uniformity in surface spraying involving convex and concave features，a novel spraying trajectory optimization method was proposed based on incorporated posture changes during the spraying processes. The effects of geometric parameters associated with convex and concave surfaces on coating uniformity during both vertical and variable posture spraying were studied，suitable bulge heights and depression depth ranges for the vertical spraying technique were identified. Subsequently，for convex and concave features that were incompatible with vertical spraying，a continuous variable inclination angle spraying trajectory optimization method utilizing arc transitions was introduced.Finally，a continuously variable inclination angle coating thickness model and an optimization target model were developed to enhance coating uniformity on surfaces with convex and concave features. Simulation and experimental results demonstrate that，compared to the vertical spraying method，the applications of the proposed technique to surfaces with convex and concave features result in a 41. 06% reduction in the standard deviation of film thickness and a 15.23% increase in the proportion of areas meeting the required film thickness accuracy.

Key words： spraying robot；variable inclination angle spraying；trajectory optimization； convex and concave feature； film thickness accuracy

0 引言

喷涂机器人具有喷涂质量稳定、喷涂效率高和自动化程度高等优点[1-2]，因此用其代替人工完成涂装作业已成为趋势[3-4]，并在汽车、航空等行业的涂装工艺中得到了广泛应用[5-8]。（剩余14104字）