Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces

Abstract

This research is focused on developing trajectory planning tools for the automotive painting industry. The geometric complexity of automotive surfaces and the complexity of the spray patterns produced by modern paint atomizers combine to make this a challenging and interesting problem. This paper documents our efforts to develop computationally tractable analytic deposition models for electrostatic rotating bell (ESRB) atomizers, which have recently become widely used in the automotive painting industry. The models presented in this paper account for both the effects of surface curvature as well as the deposition pattern of ESRB atomizers in a computationally tractable form, enabling the development of automated trajectory generation tools. We present experimental results used to develop and validate the models, and verify the interaction between the deposition pattern, the atomizer trajectory, and the surface curvature. Limitations of the deposition model with respect to predictions of paint deposition on highly curved surfaces are discussed.Note to Practitioners-The empirical paint deposition models developed herein, which are fit to experimental data, offer a significant improvement over models that are typically used in industrial robot simulations. The improved simulation results come without the computational cost and complexity of finite element methods. The models could be incorporated, as is, into existing industrial simulation tools, provided the users are cognizant of the model limitations with respect to highly curved surfaces. Although the models are based on readily available information, incorporating the models into existing robot simulation software would likely require support from the software vendor.

Trajectory Optimization of Electrostatic Spray Painting Robots on Curved Surface

“…), it is difficult to establish a more accurate ESRB mathematical model. The existing studies on the ESRB spray-painting model are carried out by the experimental method under ideal conditions on a two-dimensional plane, while research studies on spray-painting models used for curved surfaces need improvement [9][10][11][12]. A new practical ESRB cumulative rate model of painting is proposed.…”

Testing of adhesive spray painting with robot

“…For all cases was primarily used weight ratio depending on speed of the robot, pressure at pressure pot, air pressure at painting gun and revolutions on gun. Maximum speed of robot was 2000 mm/s [2,3].…”

Cooperative Cleaners: A Study in Ant Robotics

“…As most coverage problems focus on achieving a complete coverage (and sometimes -in the minimal time possible), it is worth mentioning in this scope the work of [Con1], in which an interesting additional constraint is added. As this work was design for an autonomous painting system, the uniformity of the coverage was demanded (in order to maintain the same thickness of the paint layer).…”