NEW MODEL FOR AIR SPRAY GUN OF ROBOTIC SPRAY-PAINTING

According to the case in air spray process,the spray shape of robot spray gun is not a cone and an elliptical paint area adhered to a planar surface is formed,the paint-film thick- ness of ellipse area is obtained by a painting experiment with unmovable spray gun.Neural network(NN)method is em- ployed to fit the paint-film surface function that denotes the thickness distribution of paint-film in ellipse area.A new ana- lytical paint-film thickness distribution function named as el- lipse dual-βmodel is proposed by comparing the fitted paint-film profile on some different sections in x and y direc- tions.Genetic algorithm(GA)and least square are used to fit parameters of the new model according with experiment datum. By the ellipse dual-βmodel,simulation result of a single paint- ing stroke is made out to compare with a practical single paint- ing stroke experiment result to prove that the model and its parameters are right to the experiment case.The formula for computing paint-film thickness of any painted point on a curved surface and a motion equation for spray robot painting the curved surface are also given.This model is a new practical spray-painting gun model for off-line robot painting program- ming.