Research On Trajectory Of Sparying Robot's Spray Gun

Compared with teaching programming, off-line programming used to plan spray painting robot trajectory in spray coating process can avoid endangering workers' health effectively, improving spraying quality and realizing robot auto-spray paint. The spray gun trajectory generation module to plan robot trajectory is the core of one of the off-line programming system for spray painting robots. In this paper , the method of spray gun trajectory generation is researched, which provides a new approach for the development and application of off-line programming system. The main contributions of this paper are summarized as follows:1) In order to effectively utilize workpiece CAD models of different data formats for off-line programming system to plan spray painting robot trajectory , a technique of acquiring the spray gun trajectory based on Point Cloud model is provided. Firstly, the point cloud data are obtained by scanning the surface of workpiece. Secondly, the point cloud data of the workpiece is divided into several areas,By dividing the surface of workpiece into several simple areasthen, the simple areas will be output. Thirdly, slicing processing is applied to point cloud data , and coatint track is obtained by the direction arrangement of slice data .Then the normal vectors of the sampling points are estimated. Lastly, the spray gun trajectory is generated through the smpling points offsetting the distance between spray gun and workpiece along their normal vector.2) An architecture of the spray gun trajectory generation system for spray painting robots based on point cloud is presented, and a spray gun trajectory generation prototype system is developed to validate the related mothod. The feasibility and validity of method, which generates spray gun trajectory, is proved by an example.