A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components
A Robot Trajectory Optimization Approach for Thermal Barrier Coatings Used for Free-Form Components
复制标题
用于自由形状部件的热障涂层的机器人轨迹优化方法
DOI：
10.1007/s11666-017-0601-2
复制
发表时间：
2017
影响因子：
3.1
通讯作者：
Xie Changjun
中科院分区：
文献类型：
--
作者：
Cai Zhenhua;Qi Beichun;Tao Chongyuan;Luo Jie;Chen Yuepeng;Xie Changjun
研究了机器人喷涂热障涂层的轨迹优化方法。随着复杂工件的高再现性要求的增加，最佳热喷涂轨迹不仅应保证由用户定义的喷涂参数的精确控制（例如，扫描速度、喷涂距离、扫描步距等）以实现涂层厚度均匀性，而且还有助于均匀涂层表面上的传热分布。本文提出了一种基于网格的轨迹生成方法，用于在自由曲面构件上生成轨迹曲线。然后，通过执行不同的连接方法生成两种类型的曲折轨迹。此外，本文提出了一种研究方法，将传热分析引入轨迹规划过程。将传热分析与轨迹规划相结合克服了传统轨迹规划方法的缺陷（例如，局部过热），通过优化路径曲线的时序，有助于形成均匀的温度场。两种不同的机器人轨迹对传热过程的影响估计耦合的有限元模型，证明了所提出的优化方法的有效性。
This paper is concerned with a robot trajectory optimization approach for thermal barrier coatings. As the requirements of high reproducibility of complex workpieces increase, an optimal thermal spraying trajectory should not only guarantee an accurate control of spray parameters defined by users (e.g., scanning speed, spray distance, scanning step, etc.) to achieve coating thickness homogeneity but also help to homogenize the heat transfer distribution on the coating surface. A mesh-based trajectory generation approach is introduced in this work to generate path curves on a free-form component. Then, two types of meander trajectories are generated by performing a different connection method. Additionally, this paper presents a research approach for introducing the heat transfer analysis into the trajectory planning process. Combining heat transfer analysis with trajectory planning overcomes the defects of traditional trajectory planning methods (e.g., local over-heating), which helps form the uniform temperature field by optimizing the time sequence of path curves. The influence of two different robot trajectories on the process of heat transfer is estimated by coupled FEM models which demonstrates the effectiveness of the presented optimization approach.