Abstract
In this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obtained by laser scanning. The point cloud data is processed to obtain the point cloud model of the sprayed workpiece. Then the section polysemy line is obtained after slice acquisition and section data processing of the point cloud model. The section polysemy line is sampled on average, and the normal vector of all sampling points is estimated. Finally, interpolation algorithm is used to connect the data points to obtain the space trajectory of spraying robot. In addition, the droplet trajectory model for electrostatic spray painting is established. The experimental results show that the method fully meets the requirements of coating thickness and improves the spraying efficiency and uniformity of coating.
Highlights
Automatic painting is an important process in the manufacture of many products, such as automobiles, furniture, and airplanes [1]
The modeling method based on parametric surface and the surface modeling method based on CAD model are used in spraying robots [10]
The surface modeling method of spraying workpiece based on point cloud slicing technology is
Summary
Automatic painting is an important process in the manufacture of many products, such as automobiles, furniture, and airplanes [1]. The current surface modeling method is not suitable for surface modeling and trajectory planning of spraying workpiece with large curvature and no CAD model data, which seriously affects the spraying efficiency and effectiveness. We can get inspiration from the biological principle and combine the biological model with spraying robot control technology This is a complex process, but it provides a new direction for the improvement and development of spraying robot. When there are more kinds of spraying workpiece or the curvature of spraying workpiece changes greatly, the point cloud technology is suitable for the surface modeling and trajectory planning of the spraying robot This technique reduces the complexity of the spraying process and controls the position of the spraying gun, improving the quality and efficiency of spraying
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