Yong Zeng, Hai Zhou, Chunwei Zhang, Ruhong Ma, and Lei Zheng
Spray painting robot, spray technology planning, complex free surface, thickness uniformity, simulation
In this paper, a spray technology planning scheme for complex free surface has been developed. The scheme utilizes the influence of fan angle on spray technology and the influence laws of normal angle on paint thickness uniformity are obtained to planning spray technology to satisfy the paint thickness requirements after surface partitioned. A new trajectory planning algorithm is developed to optimize the spray trajectory at the junction of two patches for the convex combination and the concave combination. The paint thickness deviation from the required paint thickness is optimized by modifying the paint gun velocity and the distance between adjacent trajectories. The influence laws of the normal angle on paint thickness uniformity are established by optimizing a series of thickness uniformities between two patches. The results of simulations have shown that trajectory planning algorithm is effective. The spray technology planning scheme is used to select reasonable spray technology for a complex free surface with multiple patches.
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