Trajectory Planning of Spray-Painting Robot Based on Thickness Uniformity of Paint Film

Abstract

In order to solve the problem that the traditional trajectory planning method does not consider the uniformity of paint film thickness in the spraying process, a trajectory planning method of spray-painting robot based on the thickness uniformity of the paint film is proposed. Firstly, the spray path of the spray gun is designed. By setting buffer areas on both sides, the spray gun can spray the flat parts to be sprayed at a uniform speed; Secondly, according to the designed spraying path, a spraying trajectory planning method based on the uniformity of paint film thickness is proposed. Taking the uniform spraying area as the middle trajectory, the head and tail variable speed buffer area are designed by quintic polynomial to ensure the continuity of velocity and acceleration between segmented trajectories. The correctness and feasibility of the trajectory planning method are verified by simulation; Finally, the robot spraying system is built, and the spraying experiment is carried out based on the trajectory planning algorithm. Spraying experiments show that the proposed method ensures the stability and continuity of the robot spraying process. The actual spraying trajectory is completely consistent with the simulation trajectory, and effectively improves the uniformity of paint film thickness.