研究了喷漆机器人喷枪最优轨迹的规划 ,该规划的目的是要确定一条使得工件表面涂层厚度差异达到最小的喷枪最优轨迹 文中首先对喷枪最优轨迹规划问题建立了数学模型 ,然后确定了具体的算法 ,对工件表面为正方形平面的情况进行仿真 ,得出优化仿真结果 ,论证该方法的可行性 ,最后分别对工件表面为圆锥面的情况和一般情况提出基本构想 The purpose of this planning is to determine the optimal trajectory of the gun which minimizes the difference in the thickness of the surface of the workpiece. In this paper, the mathematical model of the optimal trajectory planning of the gun is first established and then the The concrete algorithm is used to simulate the situation that the surface of the workpiece is a square plane. The simulation results are obtained and the feasibility of the method is proved. Finally, the basic conception of the conical surface of the workpiece and the general situation are proposed