The Path Optimization of Spray Painting Robot for Two Path Pattern

2012 ◽  
Vol 605-607 ◽  
pp. 1563-1567
Author(s):  
Kai Teng ◽  
Yong Zeng
Keyword(s):  
Path Planning ◽  
Complex Geometry ◽  
Path Optimization ◽  
Curved Surfaces ◽  
Spray Painting ◽  
Automotive Manufacturing ◽  
Spiral Path ◽  
Satisfactory Performance ◽  
Painting Robot ◽  
Paint Thickness

Automatic trajectory generation for spray painting is highly desirable for today’s automotive manufacturing. Generating paint gun trajectories for complex curved surfaces to satisfy paint thickness requirements is still highly challenging due to the complex geometry of surfaces. In this paper, based on existing of method which complex surfaces are divided into patches to satisfy the constraints, two path optimization algorithms for path pattern have been developed. Two algorithms are developed to optimize the spiral path and zigzag path on a patch by modifying the planning direction of paint gun path. The results of simulations have shown that the two path planning algorithms achieve satisfactory performance.

CAD-GUIDED SPRAY GUN TRAJECTORY PLANNING OF FREE-FORM SURFACES IN MANUFACTURING

2003 ◽  
Vol 02 (01) ◽  
pp. 47-69 ◽  
Author(s):  
HEPING CHEN ◽  
NING XI ◽  
YIFAN CHEN ◽  
JEFFREY DAHL
Keyword(s):  
Trajectory Planning ◽  
Complex Geometry ◽  
Trajectory Generation ◽  
Free Form ◽  
Generation System ◽  
Automotive Manufacturing ◽  
Robot Trajectory ◽  
Satisfactory Performance ◽  
Paint Thickness ◽  
Free Form Surfaces

Automatic trajectory generation for spray painting is highly desirable for today's automotive manufacturing. Generating paint gun trajectories for free-form surfaces to satisfy paint thickness requirements is still highly challenging due to the complex geometry of free-form surfaces. In this paper, a CAD-guided paint gun trajectory generation system for free-form surfaces has been developed. The system utilizes the CAD information of a free-form surface to be painted and a paint gun model to generate a paint gun trajectory to satisfy the paint thickness requirements. The paint thickness deviation from the required paint thickness is optimized by modifying the paint gun velocity. A paint thickness verication method is also provided to verify the generated trajectories. The results of simulations have shown that the trajectory generation system achieves satisfactory performance. This trajectory generation system can also be applied to generate trajectories for many other CAD-guided robot trajectory planning applications.

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.

Surface and Process Modeling and Off-Line Programming for Robotic Spray Painting of Curved Surfaces

1999 ◽  
Author(s):  
Tuna Balkan ◽  
M. A. Sahir Arikan
Keyword(s):  
Flow Rate ◽  
Thickness Distribution ◽  
Surface Generation ◽  
Needle Valve ◽  
Curved Surfaces ◽  
Spray Painting ◽  
Car Body ◽  
Body Components ◽  
Paint Thickness ◽  
Spray Gun

Abstract An algorithm and a computer program is developed for off-line programming of industrial robots for spray painting of curved surfaces. The study is initiated to find a more productive and repeatable, and thus higher quality method for painting of car body components in car body repair shops, where only the deformed region or part is straightened or replaced, and then painted. Body components of a specific car are modeled, and painting strategies, parameters and paths are determined. CAD models of relatively simple surfaces are formed by using the surface generation tools of the software. For parts with more complex surfaces, point data related to the part is collected by using a laser scanner, and this data is used to form the CAD model of the part surface. For paint (coating) thickness distribution analysis, the surface is divided into small elements, and their centroid coordinates and unit normals are determined. These properties are then used together with the spray distance, painting velocity and the paint flow rate flux for paint thickness analysis. Paint flow rate flux through the spray gun is determined by using experimental paint thickness distributions obtained by using different spray gun settings and painting parameters. Besides the technical specifications of the spray gun, air and paint nozzles, and paint needle; basic settings like paint tank pressure and gun needle-valve position affect paint cone angle and paint flowrate, which finally characterize the spray painting process. After deciding on an acceptable paint thickness distribution, the robot program is generated in the robot’s programming language. While moving along the path, the Cartesian position, velocity and orientation of the gun are necessary. Since there is no Cartesian input function available in the controller of the industrial robot used in this study, an inverse kinematic solution algorithm is developed to obtain the generated data in the joint space of the manipulator.

scholarly journals Path Planning for Spray Painting Robot of Horns Surfaces in Ship Manufacturing

2019 ◽  
Vol 521 ◽  
pp. 012015 ◽  
Author(s):  
Yunzhong Zhou ◽  
Shumei Ma ◽  
Aiping Li ◽  
Liansheng Yang
Keyword(s):  
Path Planning ◽  
Spray Painting ◽  
Painting Robot

Path Optimization of Spray Painting Robot for Zigzag Path Pattern

2013 ◽  
Vol 712-715 ◽  
pp. 2260-2263 ◽  
Author(s):  
Yong Zeng ◽  
Xiao Hua Ni
Keyword(s):  
Free Surface ◽  
Coating Thickness ◽  
Path Optimization ◽  
Satisfactory Performance ◽  
Coating Uniformity ◽  
Painting Robot ◽  
Planning Algorithm ◽  
Thickness Error ◽  
Path Planning Algorithm ◽  
Parallel Condition

in order to solve the coating uniformity of common border between two patches based on zigzag path pattern, an algorithm of zigzag path is developed. In this paper, a complex free surface is divided into several patches based on the constraint of coating thickness error. Based on optimized parameters of spray path on a patch, an algorithm that using variable path parameter is used to optimize zigzag path pattern by modifying the planning direction of paint gun path when satisfy parallel condition. The results of simulations have shown that the path planning algorithm achieves satisfactory performance.

Paint thickness simulation for painting robot trajectory planning: a review

2017 ◽  
Vol 44 (5) ◽  
pp. 629-638 ◽  
Author(s):  
Yan Chen ◽  
Wenzhuo Chen ◽  
Bo Li ◽  
Gang Zhang ◽  
Weiming Zhang
Keyword(s):  
Trajectory Planning ◽  
Complex Surface ◽  
Cfd Modeling ◽  
Content Type ◽  
Robot Trajectory ◽  
Model Study ◽  
Painting Robot ◽  
Paint Thickness ◽  
Deposition Simulation ◽  
Robot Trajectory Planning

Purpose The purposes of this paper are to review the progress of and conclude the trend for paint thickness simulation for painting robot trajectory planning. Design/methodology/approach This paper compares the explicit function-based method and computational fluid dynamics (CFD)-based method used for paint thickness simulation. Previous research is considered, and conclusions with the outlook are drawn. Findings The CFD-based paint deposition simulation is the trend for paint thickness simulation for painting robot trajectory planning. However, the calculation of paint thickness resulting from dynamically painting complex surface remains to be researched, which needs to build an appropriate CFD model, study approaches to dynamic painting simulation and investigate the simulation with continuously changing painting parameters. Originality/value This paper illustrates that the CFD-based method is the trend for the paint thickness simulation for painting robot trajectory planning. Current studies have been analyzed, and techniques of CFD modeling have also been summarized, which is vital for future study.

scholarly journals Path Planning under Force Control in Robotic Polishing of the Complex Curved Surfaces

2019 ◽  
Vol 9 (24) ◽  
pp. 5489 ◽  
Author(s):  
Imran Mohsin ◽  
Kai He ◽  
Zheng Li ◽  
Ruxu Du
Keyword(s):  
Path Planning ◽  
Respiratory Diseases ◽  
Tool Path ◽  
Parameters Optimization ◽  
Curved Surfaces ◽  
Tool Path Planning ◽  
Average Roughness ◽  
Surface Polishing ◽  
Manufacturing Sectors ◽  
Joint Limits

Surface polishing is required in many manufacturing sectors. Currently, it demands a large amount of manual work, which is time-consuming, error-prone, and costly. Additionally, it creates hazards for the workers as it may result in many deadly respiratory diseases. Robotic polishing is the solution to these problems. It can improve productivity, eliminate the defects, and provides consistent product quality. In this paper, an effective approach is presented for the robotic polishing of the complex curved surfaces. The key part of the presented method is the tool path planning with controlled force and polishing parameters optimization evaluated using design of experiments (DOE). The tool path planning is aimed at improving the surface quality and the contact area per path. The constraints of joint limits and productivity are also considered. Moreover, its jerk avoidance strategy allows the robot to move swiftly while ensuring a smooth trajectory. The presented method is verified for the polishing of an eyeglass frame. A considerable improvement of 90% on the average roughness is achieved with the maximum acceptable roughness set at 0.02 µm. The polishing operation takes just 79 secs and the average glossiness of 76 G is achieved on the final product along with the successful elimination of scratches on the surface.

The case for the spray painting robot

1973 ◽  
Vol 52 (5) ◽  
pp. 171 ◽  
Author(s):  
D.E. Jarvis
Keyword(s):  
Spray Painting ◽  
Painting Robot
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