机器人喷涂过程中的喷炬建模及仿真研究

详细信息

MODELS OF SPRAY GUN AND SIMULATION IN ROBOTICS SPRAY PAINTING

State Key Laboratory of Intelligent Technology and Systems, Tsinghua University, Beijing 100084, China

摘要: 本文在研究了喷涂机器人的喷炬特性后，根据物理模型采用了一种简化的数学模型来描述在喷炬流场中的涂料流量分布函数．并从上述函数出发，进一步得到了喷涂的涂料沉积方程．根据仿真实验与实际喷涂的数据进行比较，证明了模型的正确性．这一喷炬模型是喷涂机器人离线编程系统的重要组成部分．
- 喷涂 /
- 离线编程 /
- 仿真 /
- OpenGL
Abstract: The paper deals with the character of spray gun used by an industrial spray-painting robot. According to the physical model, a simplified mathematical model is proposed for the paint flux distribution function, which describes the flux field within the spray cone. Derived from the function, a formula for spray deposition on a point within the spray cone is obtained. Some simulated experiments have been made, and the results accord with the flux field data of the result from a published experiment,which proves the correctness of the model. With the model of spray deposition, a 3-D simulation program by OpenGL is presented. It will be an important part in the future off-line spray-painting system.
- spray-painting /
- off-line programming /
- simulation /
- OpenGL

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