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

Abstract

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.

Research on the trajectory planning and global optimization strategy of cold spraying technique for complex products coating preparation

“…To reduce the direction change of trajectory points and ensure the user-defined scan speed, this article extends the vertical edge of the inner contour of the sprayed object to form multiple parts and plans robot trajectories that are perpendicular to the vertical edges of each small part. Zeng et al (2021aZeng et al ( , 2021b presented a novel approach to enhance the efficiency of coating spraying by optimizing the distribution symmetry of coating spray during the arc-based spraying process. Cai et al (2019) present a novel approach involving the determination of starting and offset curves through geodesic curves of the surface, in conjunction with the Gauss-Bonnet theorem; meanwhile, Cai used the preprocessing unit within ANSYS to construct a quadrilateral mesh and compute the normal vectors of the target surface designated for spray application.…”

“…Within the context of the ant colony algorithm, the performance and efficiency of the algorithm are significantly influenced by different combinations of parameters (Qizilbash et al, 2020;Zhang et al, 2023;Zeng et al, 2021aZeng et al, , 2021bXue et al, 2021). However, the current landscape lacks a robust mathematical analysis methodology that can comprehensively derive optimal parameter combinations for the ant colony algorithm under diverse usage conditions.…”

“…Zeng et al (2021a, 2021b) presented a novel approach to enhance the efficiency of coating spraying by optimizing the distribution symmetry of coating spray during the arc-based spraying process. Cai et al (2019) present a novel approach involving the determination of starting and offset curves through geodesic curves of the surface, in conjunction with the Gauss–Bonnet theorem; meanwhile, Cai used the pre-processing unit within ANSYS to construct a quadrilateral mesh and compute the normal vectors of the target surface designated for spray application.…”

Method of 3D Coating Accumulation Modeling Based on Inclined Spraying

“… -- 7.6% Hua, R.-X. et al [ 16 ] Rectangular distribution model of 3D The process of data acquisition is complex, and the amount of information is insufficient. The 3D rectangular coating thickness distribution model is adopted, and the accuracy is high.…”

Analysis of Film Forming Law and Characteristics for an Air Static Spray with a Variable Position of the Plane

“…Spraying parameters mainly include central atomization hole pressure, fan surface control hole pressure, paint flow, spraying distance, spraying angle, spray gun moving speed, etc. Zeng et al studied multi-parameter spray gun trajectory optimization based on boundary constraints [9]. Due to the complexity of the film forming process of air spraying, the combination of CFD numerical simulation and spraying experiment is mainly used to study how to establish a physical model to accurately predict the coating deposition rate [10,11].…”