Design and Analysis of the Spray-Painting Robot for tall statues and monuments

The painting on tall structures, statues, monuments and buildings is dangerous task for humans. Robotics finds its applications in operations, which are repetitive, hazardous, and dangerous. The aim of the present work is to design a manipulator for spray painting on surfaces of tall monuments, statues and structures. The robot can be installed on a crane platform for lifting and operated from the ground. A lightweight and compact design is desired that can be easily accommodated within the space of the crane. A Revolute-Revolute-Revolute-Prismatic (RRRP) type Robotic arm is developed and analysed for this application. By establishing the rigid body tree model in Robotics System Toolbox, the numerical model of direct and inverse kinematics using Homogenous Matrix Transformation is prepared in MATLAB. Using the spray patch method and offline programming method, the spray model is prepared in Solid woks to obtain trajectory waypoints. A B-spline path is generated through these waypoints. At each waypoint, joint displacement variables are calculated using an inverse kinematic model. An air-less spray gun is selected and attached with a robot. Controlled motion algorithm for spray painting operation on a circular surface were obtained with simulation results. A smooth trajectory for performing spray painting is obtained.

Workspace Analysis of Spray Painting Robot with Two Working Modes for Large Ship Blocks in Ship Manufacturing

Spray painting is crucial in the process of shipbuilding and runs through the whole process of shipbuilding. In order to obtain the good coating quality during the painting process, gantry type painting robot could be used because of its resource-saving and environment-friendly characteristics. Based on the structural parameters of the spray painting manipulator with 3DOF (Degree of freedom) gantry, the kinematic model of the painting robot system can be established. From the perspective of the two commonly working modes, namely 3P3R robot structure and the 3P6R redundant robot structure, their spraying workspace are analyzed. The result shows that the workspace volume of the 3P6R robot is much larger than that of the 3P3R robot. However, the inverse kinematics solution of 3P3R robot has analytical solution, which makes the control accurate and easy to use, and through the simulation, we can give the theoretical basis for the engineering.

Development of cost-effective IoT module-based pipe classification system for flexible manufacturing system of painting process of high-pressure pipe

This paper researches an IoT module-based pipe classification system for a flexible manufacturing system that recognizes the size and length of pipes used in the painting process of high-pressure pipes. The proposed system is composed of an IoT module, USB camera, and edge TPU for pipe classification. The proposed system recognizes the type of pipe by three processes; object detection of the pipe, line detection algorithm of the three regions of interest, and pipe classification algorithm based on the line detection algorithm. Furthermore, the proposed system enables web-based real-time monitoring, providing convenience to workers and helping them make quick decisions. The IoT module interfaces with the painting robot and the sequence control that paints for each type of pipe is executed in the painting robot, allowing flexible manufacturing of the painting process.

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

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.

Project Selection through a Simulation Model of the Painting Robots

At present, the manufacturing sector,there is an increase in competition, emerging markets, the rise of competitors in the region and competing countries with the availability of wages creating an impact on the contractors in terms of cost, quality and production capability which makes the production model in use today. There is a need to adjust to enhance competitiveness with regional and global competitors. And automated production lines are normally used in industrial production systems. Rather, it is often a large-scale entrepreneur or from a relocation or automated manufacturing technology that comes with the start-up. Robotic automation has long been used to replace human workers for tasks having a high degree of risk, such as areas with high heat, hazardous chemical area.The use of robots particularly in industrial painting not only protect human health but also improve the productivity. The robot can work continuously without being tired is an advantage compared to human workers.The investment in the robotics project for manufacturingis quite high in the initial period. Often the inventor will need to ensure that their investment is worth for which the robotics system to be used at full capacity.Decisions on an investment involve many intangibles that need to be traded off. In this study, the painting robot production process was simulated and analyzed to how to improve the capacity of the painting robots. FlexSim isused toanalyzed and simulated to optimize the painting robots.In summary, the simulation shows the productivity of a proposed production is more than current production 2.47times. While the capacity increasing 2.97 times.

Multi-objective optimal design of a novel 6-DOF spray-painting robot

This paper deals with the multi-objective optimal design of a novel 6-degree of freedom (DOF) hybrid spray-painting robot. Its kinematic model is obtained by dividing it into serial and parallel parts. The dynamic equation is formulated by virtual work principle. A performance index for evaluating the compactness of robot is presented. Taking compactness, motion/force transmissibility, and energy consumption as performance indices, the optimal geometric parameters of the robot are selected in the Pareto-optimal set by constructing a comprehensive performance index. This paper is very useful for the development of the spray-painting robot.

Image Preprocessing for Artistic Robotic Painting

Artistic robotic painting implies creating a picture on canvas according to a brushstroke map preliminarily computed from a source image. To make the painting look closer to the human artwork, the source image should be preprocessed to render the effects usually created by artists. In this paper, we consider three preprocessing effects: aerial perspective, gamut compression and brushstroke coherence. We propose an algorithm for aerial perspective amplification based on principles of light scattering using a depth map, an algorithm for gamut compression using nonlinear hue transformation and an algorithm for image gradient filtering for obtaining a well-coherent brushstroke map with a reduced number of brushstrokes, required for practical robotic painting. The described algorithms allow interactive image correction and make the final rendering look closer to a manually painted artwork. To illustrate our proposals, we render several test images on a computer and paint a monochromatic image on canvas with a painting robot.

Design and implementation of automatic painting mobile robot

Wall painting is a repetitive, stressful, and hazardous process that makes it an ideal automation case. In the automotive industry, painting had been automated but not yet for the construction industry. However, there is a strong need for a mobile robot that can move to paint residential interior walls. In this study, we aim to design and implement an automatic painting mobile robot. The conceptual design of the proposed wall painting robot consisting paint mechanism with a spray gun and ultrasonic sensor. The spray gun is attached to a pulley mechanism that has linear motion. The ultrasonic sensor is used to detect the spray gun when it reached a certain limit. The DC motor rotates clockwise and counterclockwise based on the ultrasonic sensor condition made. The experimental results indicate that the robot was able to paint the walls smoothly vertically, and horizontally. The spraying gun structure's speed is at a tolerable speed of 0.07 m/s, which could be increased, but to provide high-quality painting without any gaps, the current speed was selected as the most suitable, without any harm to the working process.