Off-line Trajectory Planning And Simulation Of Six Axial Spraying Robot

Spraying robots are widely applied to spraying industry,such as automobile and furniture,because their off-line programming system has great flexibility and interaction.Spraying robots not only can reduce the working intensity of workers,but also ameliorate the spraying environment.The important core of off-line programming system is how to plan the off-line spraying trajectory,and the reasonable spraying trajectory can guarantee spraying uniformity.This paper took the project of Guangdong Rongde spraying company about spraying American classical door automaticly as the research background.Proposed a kind of trajectory planning algorithm,which based on offsetting plane profile to produce spiral trajectory,and compared with traditional planning method by grating path,it has better advantages.The spiral spraying trajectory was optimized by extremum method,Fibonacci method and interpolation method.Finally,the ABB IRB5500 robot was used as the application platform to verify the spraying trajectory by off-line simulation technology.This trajectory planning method can reduce the transitional consumption of the robot,achieve continuous spraying,reduce spray time and paint waste,improve the spraying efficiency and spraying quality.The main work is as follows:(1)This paper took American classical door as the research object,and followed the law of influencing factors to establish the coating model of accumulative rate and distribution model of coating thickness,then calculated the optimal overlap distance of adjacent spraying trajectory by extremum method,all of these can lay the foundations for planning trajectory.(2)According geometric features of door's surface to research on how to plan the spraying trajectory,at the last,proposed a new kind of trajectory planning algorithm which based on offsetting plane profile to produce spiral trajectory,the algorithm can apply to the concave or convex workpiece.This method first should to produce contour trajectory through quadrangle bias algorithm,then connecting the contour trajectory by diagonalizable connection to build spiral trajectory.(3)This paper used Fibonacci method to optimize the trajectory distance of adjacent surface for the spiral spraying trajectory,and used spatial linear interpolation and arc interpolation to combine and optimize the spray gun trajectory.(4)This paper has set up the coordinate system of the spraying system about ABB IRB5500 robot,and transformed spraying trajectory into robot joint's motion according to the kinematics and inverse kinematics of six axial robot.(5)This paper simulated spiral spraying trajectory of spray gun by off-line simulational software called Robotstudio.Thanks to the angle change of each joint,the reachability detection and collisionmonitoring,the simulational results verify the feasibility and rationality of the spiral spraying trajectory.