Tool Trajectory Optimization of Spray Painting Robot for ManyTimes Spray Painting

Zeng, Yong; Gong, Jinwu; Xu, Ning; Nai-ling, WU

doi:10.14257/ijca.2014.7.8.17

Cited by 19 publications

(13 citation statements)

References 9 publications

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“…Under the assumption that the paint flow rate q v and the torch cone opening angle ϕ are constant during spraying, considering the posture of the spray gun relative to the sprayed surface as controllable parameters, namely the spraying height H and the spraying angle α, as shown in Figure . 1(a). After the spray gun sprays the plane statically, the paint deposition model at any point (x, y) within the spray range can be expressed as [18]:…”

Section: Static Spray Model Of Spray Gun With Variable Posturementioning

confidence: 99%

Trajectory Planning of Spray Gun With Variable Posture for Irregular Plane Based on Boundary Constraint

Zeng

Zhao

et al. 2021

IEEE Access

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In order to solve the problem of low spraying efficiency and excessive paint waste caused by overspray when the robot automatically sprays irregular plane, a method of spray trajectory planning with boundary-constrained considering spray gun changing posture is proposed. The static spraying model of the spray gun with variable posture, and the dynamic spraying model of the spray gun along the arc path are established separately, an optimization method for the symmetry of coating distribution based on the variable spray angle when the gun spraying along the arc path is proposed. Orthogonal experiment method based on numerical simulation is used to clarify the influence of boundary curve shape and spray gun posture on boundary constraint distance, the prediction of the value range of the boundary constraint distance at the boundary of different curvature radius is realized. Within the range of the value of the boundary constraint, combined with the equal division method of the plane intercept line and the distance search method, a boundary constraint spray path generation algorithm is established by setting a uniform boundary constraint distance value. Finally, a multivariable spraying parameter optimization algorithm based on PSO is established, the spraying velocity, spraying height and spraying angle in the dynamic spraying process are solved, and the coating uniformity is optimized. The effectiveness and feasibility of the proposed spray trajectory planning method is verified by robot spraying experiment for any irregular plane.INDEX TERMS Irregular plane, spraying robot, boundary constraint, variable posture, trajectory planning.

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Section: Static Spray Model Of Spray Gun With Variable Posturementioning

confidence: 99%

Trajectory Planning of Spray Gun With Variable Posture for Irregular Plane Based on Boundary Constraint

Zeng

Zhao

et al. 2021

IEEE Access

Self Cite

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“…Here, order crossover (OX) is used on P i while two-point crossover is used on P si . OX ensures that the original order of each vertex is almost the same when the effective sequence of the individual itinerary is modified [16]. The main idea of OX is: A conventional two-point crossover is performed, followed by an effective sequence modification of the individual itinerary.…”

Section: Solving the Ttoi Problem With The Genetic Algorithmmentioning

confidence: 99%

Optimized Combination of Spray Painting Trajectory on 3D Entities

et al. 2019

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In this research, a novel method of space spraying trajectory optimization is proposed for 3D entity spraying. According to the particularity of the three-dimensional entity, the finite range model is set up, and the 3D entity is patched by the surface modeling method based on FPAG (flat patch adjacency graph). After planning the spray path on each patch, the variance of the paint thickness of the discrete point and the ideal paint thickness is taken as the objective function and the trajectory on each patch is optimized. The improved GA (genetic algorithm), ACO (ant colony optimization), and PSO (particle swarm optimization) are used to solve the TTOI (tool trajectory optimal integration) problem. The practicability of the three algorithms is verified by simulation experiments. Finally, the trajectory optimization algorithm of the 3D entity spraying robot can improve the spraying efficiency.

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“…It is known to all that a quartic polynomial model can represent Coatings 2017, 7, 155 6 of 15 many 3D curved surfaces. After connecting the triangular facets into patches, each patch can be processed by the 3L algorithm, resulting in a smooth surface that retains the original properties [17][18][19][20].…”

Section: )mentioning

confidence: 99%

Trajectory Optimization of Electrostatic Spray Painting Robots on Curved Surface

et al. 2017

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Abstract:In this paper, a new practical electrostatic rotating bell (ESRB) cumulative rate model of painting is derived, and an experimental study on painting is carried out. First, the experimental method is used to obtain the radial thickness profile function of the spatial paint distribution of static spray. Then, a spatial trajectory-planning scheme for a spray-painting robot based on a rectangular model is presented. This method designs the spatial path of the spray-painting robot by using the cuboid model method after the optimal value is taken as the width d of the overlapping area of the two spray-painting strokes in the plane. The experimental results illustrate that the paint thickness basically meets the requirements, and the experimental results verify the effectiveness of the trajectory optimization method.

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Tool Trajectory Optimization of Spray Painting Robot for ManyTimes Spray Painting

Abstract: Abstract

Cited by 19 publications

References 9 publications

Trajectory Planning of Spray Gun With Variable Posture for Irregular Plane Based on Boundary Constraint

Trajectory Planning of Spray Gun With Variable Posture for Irregular Plane Based on Boundary Constraint

Optimized Combination of Spray Painting Trajectory on 3D Entities

Trajectory Optimization of Electrostatic Spray Painting Robots on Curved Surface

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