中文摘要：

通过对喷涂机器人离线编程技术、喷枪轨迹实现的关键因素和目前各种CAD软件中通用的STL格式数据文件的研究，将STL数据文件中每个小三角形的法向矢量进行拓展，从而能够动态确定喷枪作业时的喷涂方向，主要介绍了一种基于STL数据文件来实现喷涂机器人喷枪轨迹的方法——虚拟轨迹投影法，并利用VisualC＋＋6．0和OpenGL技术对喷枪轨迹的实现进行仿真，最后以车门为实例进行了验证．

英文摘要：

By research on off-line program technology of painting robot, the key factor spray gun trajectory and STL form data used in various kinds of CAD software in common,then expand the normal of each small triangle in STL data file ,thus the spraying direction of spray gun can be confirmed in painting work dynamically. Have recommended one method to get the Trajectory of spray gun of Paint Robot with Fictitious Trajectory Method on the basis of STL datum file,and based on OpenGL adopt Visual C＋＋ 6. 0 to create and simulate the trajectory. Last,use the car door as the instance to verify finally.