Abstract
Unidirectional interleaving painting is presented for robot to spray long and narrow duct. It adopts a same overlapping distance and only two seed paths in the same direction which are used in turn.To optimize robot trajectory for spray painting, uniformity model of unidirectional interleaving painting based on parabolic deposition model and thickness variance is built, and coating uniformity is studied. Non-dimensional calculation results show that overlapping distance and interleaving distance are the main influencing factors of coating uniformity. The value of thickness deviation is not greater than 0.000 9 in four areas, two of which should be chosen to plan painting path for better coating uniformity. The comparison experiment confirms that interleaving painting can improve coating uniformity.
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