Research on the trajectory planning and global optimization strategy of cold spraying technique for complex products coating preparation
Robotic Intelligence and Automation
ISSN: 2754-6969
Article publication date: 25 April 2024
Issue publication date: 6 May 2024
Abstract
Purpose
This paper aims to present a set of processes for obtaining the global spraying trajectory of a cold spraying robot on a complex surface.
Design/methodology/approach
The complex workpiece surfaces in the project are first divided by triangular meshing. Then, the geodesic curve method is applied for local path planning. Finally, the subsurface trajectory combination optimization problem is modeled as a GTSP problem and solved by the ant colony algorithm, where the evaluation scores and the uniform design method are used to determine the optimal parameter combination of the algorithm. A global optimized spraying trajectory is thus obtained.
Findings
The simulation results show that the proposed processes can achieve the shortest global spraying trajectory. Moreover, the cold spraying experiment on the IRB4600 six-joint robot verifies that the spraying trajectory obtained by the processes can ensure a uniform coating thickness.
Originality/value
The proposed processes address the issue of different parameter combinations, leading to different results when using the ant colony algorithm. The two methods for obtaining the optimal parameter combinations can solve this problem quickly and effectively, and guarantee that the processes obtain the optimal global spraying trajectory.
Keywords
Citation
Yang, X., Yue, X., Cai, Z. and Zhong, S. (2024), "Research on the trajectory planning and global optimization strategy of cold spraying technique for complex products coating preparation", Robotic Intelligence and Automation, Vol. 44 No. 2, pp. 258-269. https://doi.org/10.1108/RIA-08-2023-0108
Publisher
:Emerald Publishing Limited
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