喷涂轨迹优化是保证最终涂层高质量的重要环节，直接作用于涂层的成形过程。该文针对平面喷涂提出一种轨迹优化方法，通过互补喷枪模型的优化求解，实现高效、高质量的平面喷涂，并在此基础上针对NURBS（non-uniform rational B-spline）自由曲面喷涂，受启发于绘画时人们采用不同尺寸的画笔描绘不同精细程度的物体，提出可变尺寸画笔的喷涂概念，利用喷涂距离的变化实现喷幅尺寸大小的变化，同时利用变速喷涂，增强喷涂优化方法对各种复杂曲面的处理能力。通过仿真与实验验证，该文提出的方法喷涂平面时，膜厚均匀度损失了1.64%，而漆料利用率提升了13.54%；喷涂自由曲面时，膜厚均匀度由31.68%提升到4.79%。实验结果验证了该文提出方法的有效性。

Spraying trajectory optimization is important for ensuring high quality coatings because the trajectory directly affects the coating formation. This paper describes a trajectory optimization method for planar spraying. Efficient, high quality planar spraying is realized by solving a complementary spraying gun model. As for NURBS free-form surfaces, artists use different size brushes to create finer features on some objects than on others. This concept of variable size brushes is implemented here by changing the distance from the spray gun to the surface for free-form surfaces. The spraying is further optimized on complex surfaces by varying the spraying speed. Simulations and tests show that the film thickness uniformity is 1.64% worse and the paint utilization rate is 13.54% higher when spraying flat surfaces but that the film thickness uniformity is improved from 31.68% to 4.79% when spraying free-form surfaces. The results verify the effectiveness of this method for free-form surfaces.