中文摘要：

基于离线编程技术的喷涂机器人轨迹生成已成为喷涂机器人控制方法的发展趋势。通过对现有的六轴机器人轨迹生成方案的分析和研究,提出了在喷涂轨迹设计中增加第七轴的方案。该方案通过改变六轴机器人的运动方式扩展了机器人的可达空间,使其能够完成复杂工件曲面的喷涂。实验结果表明,与传统的六轴机器人轨迹生成方案相比,所提出的方案对于复杂曲面的喷涂效果更好,更适于实际工业应用。

英文摘要：

The trajectory generation of spray robot based on of off-line programming has become a trend of development of control method of spray robots. On the basis of our analysis and research about existing trajectory generation schemes of 6-axis robots, this essay proposes a scheme that increasing the 7^th axis to a 6-axis robot in the design of spray trajectory. The scheme extends the reachable space of the robot by changing movement mode of 6-axis robot, which enables it to accomplish spray on complicated curved surface. Experiments show that the scheme presented in this essay performs better than traditional trajectory generation strate- gies of 6-axis robot for spray on complex curved surface.