Automated Tool Trajectory Planning for Spray Painting Robot of Free-Form Surfaces

2016 ◽  
pp. 791-800 ◽  
Author(s):  
Wei Chen ◽  
Yang Tang
Keyword(s):  
Trajectory Planning ◽  
Free Form ◽  
Spray Painting ◽  
Tool Trajectory ◽  
Painting Robot ◽  
Free Form Surfaces ◽  
Automated Tool

Trajectory Planning for Spray Painting Robot of Free-Form Surfaces

2014 ◽  
Vol 543-547 ◽  
pp. 1309-1312 ◽  
Author(s):  
Yang Tang ◽  
Wei Guo Yang ◽  
Wei Chen
Keyword(s):  
Deposition Rate ◽  
Trajectory Optimization ◽  
Rate Function ◽  
Free Form ◽  
Optimal Time ◽  
Spray Painting ◽  
Tool Trajectory ◽  
Painting Robot ◽  
Thickness Function ◽  
Free Form Surfaces

Trajectory optimization of spray painting robot for surfaces is studied. Because the current paint deposition rate function is too complicated, the paint deposition rate function on a plane according to the experiment data is provided. The paint thickness function for free-form surfaces is also given. A multi-objective constraint optimization problem is formulated. An optimal tool trajectory with an optimal time and film quantity deviation is generated.Experiments are performed to verify the generated trajectory. The results show that the developed optimal tool planning algorithm could be applied to generate optimal tool trajectories.

Point cloud modeling and slicing algorithm for trajectory planning of spray painting robot

Robotica ◽  
2021 ◽  
pp. 1-22
Author(s):  
Xinyi Yu ◽  
Zhaoying Cheng ◽  
Yikai Zhang ◽  
Linlin Ou
Keyword(s):  
Trajectory Planning ◽  
Coating Thickness ◽  
Point Cloud ◽  
Cloud Model ◽  
Free Form ◽  
Spray Painting ◽  
Painting Robot ◽  
Point Cloud Model ◽  
Free Form Surface ◽  
Cloud Modeling

Abstract To improve the uniformity of coating thickness and spraying efficiency, new point cloud modeling and slicing algorithm are proposed to deal with free-form surfaces for the spray painting robot in this paper. In the process of point cloud modeling, the edge preservation algorithm is firstly presented to avoid damaging the edge characteristic of the point cloud model. For the spraying gun, the coating deposition model on the free-form surface is determined on the basis of the elliptic double $\beta $ distribution model. Then, the grid projection algorithm is proposed to obtain grid points between adjacent slices on the free-form surface. Based on this, the analytical solution for calculating the coating thickness at each grid point is obtained. The cross-section contour points are obtained by intercepting the point cloud model with several parallel slices, which is important for the trajectory planning of the spray painting robot. Finally, the uniformity of coating thickness is optimized in terms of the moving speed of the spraying gun and the slice thickness. The simulation and numerical experiment results show that the uniformity of coating thickness and spraying efficiency are improved using the proposed point cloud modeling and slicing algorithm.

General Framework of Optimal Tool Trajectory Planning for Free-Form Surfaces in Surface Manufacturing

2005 ◽  
Vol 127 (1) ◽  
pp. 49-59 ◽  
Author(s):  
Heping Chen ◽  
Ning Xi ◽  
Weihua Sheng ◽  
Yifan Chen
Keyword(s):  
Trajectory Planning ◽  
Computer Aided Design ◽  
General Framework ◽  
Planning Process ◽  
Spray Forming ◽  
Industrial Robots ◽  
Free Form ◽  
Tool Trajectory ◽  
Free Form Surfaces ◽  
The Given

Surface manufacturing is a process of adding material to or removing material from the surfaces of a part. Spray painting, spray forming, rapid tooling, spray coating, and polishing are some of the typical applications of surface manufacturing, where industrial robots are usually used. Tool planning for industrial robots in surface manufacturing is a challenging research topic. Typical teaching methods are not affordable any more because products are subject to a shorter product life, frequent design changes, small lot sizes, and small in-process inventory restrictions. An automatic tool trajectory planning process is hence desirable for tool trajectory planning of industrial robots. Based on the computer-aided design model of a part, the tool model, task constraints, and optimization criteria, a general framework of optimal tool trajectory planning in surface manufacturing is developed. Optimal tool trajectories are generated by approximately solving a multiobjective optimization problem. To test if the generated trajectory satisfies the given constraints, a trajectory verification model is developed. Simulations are performed to determine if the given constraints are satisfied. Simulation results show that the optimal tool trajectory planning framework can be applied to generate trajectories for a variety of applications in surface manufacturing. This general framework can also be extended to other applications such as dimensional inspection and demining.

scholarly journals Path Planning for Spray Painting Robot of Workpiece Surfaces

2013 ◽  
Vol 2013 ◽  
pp. 1-6 ◽  
Author(s):  
Wei Chen ◽  
Dean Zhao
Keyword(s):  
Path Planning ◽  
Optimization Algorithm ◽  
Optimization Problem ◽  
Tool Path ◽  
Rate Function ◽  
Free Form ◽  
Optimal Time ◽  
Experiment Data ◽  
Spray Painting ◽  
Painting Robot

A new optimization algorithm of the path planning for spray painting robot of workpiece surfaces is proposed. This paper first provides the paint deposition rate function on a plane according to the experiment data. And the model of film thickness on surface is discussed. A multiobjective constraint optimization problem is formulated. An optimal tool path with an optimal time and film quantity deviation is generated. And the min-max method is adopted here to calculate the values. A workpiece, which is a free-form surface, is used to test the scheme. The results of experiments have shown that the path optimization algorithm achieves satisfactory performance. This algorithm can also be extended to other applications.

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