面向复合材料构件喷涂的机器人站位优化算法

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Optimization algorithm for robot station positioning in continuous spraying composite components

MAO Yingkun 1，2 ， CHEN Jing 1，2* ， JIA Ziqi 1，2 ， CAI Yingnan 1，2 ，YIN Rongying 1 ， MA Jichuan ⋅1 （1.Harbin Hafei Aviation Industry Co.，Ltd.，Harbin ;2. Heilongjiang Hafei Surface Treatment Engineering Technology Research Center，Harbin ）

Abstract：Inresponse tothe limitations ofmanual rial-and-error methods insmallbatchand multi-variety spraying productionofcomposite material components，thispaper presentsarobotpositioning optimizationalgorithm.Firstlystarting from the robot kinematics，a position and posture optimization model betweentherobot andthe workpiece is established by combinig joint motionrangeconstraints andsingularityavoidanceconstraints.Secondlyusing the Jacobian matrix as aparameterandadoptinganintegrativedexteritycriterionastheoptimizationobjective，thealgorithmissolvedviatheparticle swarmoptimizationmethod.Experimentalresultsdemonstratethatthealgorithmenablestherobottoavoid singularities， keeps joint motion within specifiedlimits，and achieves optimal kinematic performance during continuous spraying operations.This effectivelyenhances the eficiencyandqualityof composite material component spraying production，offering technical support for intelligent spraying.

Keywords：composite component; spraying production; robot position; kinematic performanc

1引言

奇异位形，关节运动不超过设定范围，且运动性能最优的状态下实现连续喷涂作业。（剩余8366字）