Abstract
In order to solve the problem of low spraying efficiency and excessive paint waste caused by overspray when the robot automatically sprays irregular plane, a method of spray trajectory planning with boundary-constrained considering spray gun changing posture is proposed. The static spraying model of the spray gun with variable posture, and the dynamic spraying model of the spray gun along the arc path are established separately, an optimization method for the symmetry of coating distribution based on the variable spray angle when the gun spraying along the arc path is proposed. Orthogonal experiment method based on numerical simulation is used to clarify the influence of boundary curve shape and spray gun posture on boundary constraint distance, the prediction of the value range of the boundary constraint distance at the boundary of different curvature radius is realized. Within the range of the value of the boundary constraint, combined with the equal division method of the plane intercept line and the distance search method, a boundary constraint spray path generation algorithm is established by setting a uniform boundary constraint distance value. Finally, a multivariable spraying parameter optimization algorithm based on PSO is established, the spraying velocity, spraying height and spraying angle in the dynamic spraying process are solved, and the coating uniformity is optimized. The effectiveness and feasibility of the proposed spray trajectory planning method is verified by robot spraying experiment for any irregular plane.
Highlights
As an advanced automation equipment, spraying robot is widely used in painting process of automobile, ship, aerospace and thermal spraying process of surface strengthening technology [1]–[3]
The manual teaching of spraying robot is still the commonly used programming method, due to the insuperable defects such as long teaching cycle, coating thickness uniformity, spraying efficiency and paint utilization depending on the technical level of teaching workers, the research on off-line programming technology of spraying robot has become a hot spot for scholars at home and abroad [4]–[7]
Considering the adverse effect of the geodesic curvature of the spray path on the symmetry of the coating film distribution on both sides of the spray path, Atkar et al [12] developed a offset spray path generation method based on surface geodesic for the freeform surface, and improved the coating thickness uniformity
Summary
As an advanced automation equipment, spraying robot is widely used in painting process of automobile, ship, aerospace and thermal spraying process of surface strengthening technology [1]–[3]. The above research is to plan a full coverage spraying path for the surface, and start to optimize the spacing distance between adjacent paths and the spraying velocity The method they proposed achieves the goal of improving the coating thickness uniformity, the planned spray path does not consider the boundary constraints and causes the overspray phenomenon to be more serious, which adversely affects the spraying efficiency and paint utilization. Since the boundary shape of the spraying surface and the posture of the spray gun (spraying height and spraying angle) have an important influence on the value of the boundary constraint distance, the author did not study the method of setting its value, and because it is easy to generate non-geodetic spray paths, the author the uneven distribution of the coating film caused by the non-zero geodesic curvature of the spray path has not been studied. Taking arbitrary irregular plane as the object, spraying experiments are carried out on the spray trajectory planning methods with and without boundary constraints to verify the effectiveness and feasibility of the method proposed in this paper
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