Trajectory generation of painting gun based on Z-map theory

Spray-painting robot,an advanced painting equipment,has been widely used in painting both inside and outside surface of products.Because modern product's appearance is very complex,how to painting it uniformly has become an extremely important problem.Based on Z-map theory and the CAD model of free surface,a polyhedron model is obtained by triangular meshing the free surface.Then the Zmap method is applied to realize the extraction of coordinates and normal vectors of the painting node under the condition of equidistance painting.Thus,the painting nodes optimized by interpolating are connected to generate the spray-gun trajectory,and the spray-gun trajectory of free surface could be generated automatically.Finally,the spray-gun trajectory of auto CAD model is generated.