The tool trajectory optimization of spray painting robot for spherical surface

After the big curvature complex curved surface partition, for the spray trajectory optimization on spherical surface. Based on the existing 2D model of spray tool, the spray tool 3D model was deduced on spherical surface. Combined with the bounding box method, a generated method of spray tool trajectory was given. Use the methods of adjust spray radius and trajectory partition to discuss the calculational method of coating thickness and optimization of parameters for spherical surface. Simulation results show that optimization algorithm is feasible, compared with existing methods, the coating uniformity is improved, the spray velocity show the non-linear variations with spacing distance and others show the linear variations.

[1]  Howie Choset,et al.  Coverage of Known Spaces: The Boustrophedon Cellular Decomposition , 2000, Auton. Robots.

[2]  Howie Choset,et al.  Paint deposition modeling for trajectory planning on automotive surfaces , 2005, IEEE Transactions on Automation Science and Engineering.

[3]  Erik D. Goodman,et al.  A method for accurate simulation of robotic spray application using empirical parameterization , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[4]  Yifan Chen,et al.  A general framework for automatic CAD-guided tool planning for surface manufacturing , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[5]  Howie Choset,et al.  Towards optimal coverage of 2-dimensional surfaces embedded in IR/sup 3/: choice of start curve , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[6]  Ning Xi,et al.  Automated tool trajectory planning of industrial robots for painting composite surfaces , 2008 .

[7]  Yifan Chen,et al.  Tool path planning for compound surfaces in spray forming processes , 2004, IEEE Transactions on Automation Science and Engineering.

[8]  Weihua Sheng,et al.  Optimizing material distribution for tool trajectory generation in surface manufacturing , 2005, Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics..

[9]  Hendrik Van Brussel,et al.  CAD-based robotic coating of highly curved surfaces , 1993 .