Study On Off-line Programming Trajectory Design And Simulation Of Spray Gun For Painting Robots

This paper first describes the research purport and current research level of the off-line programming system for painting robot, and points out the Optimal Trajectory Planning Problems(OTPP).In such spray-coating operations robotic manipulators are employed to traverse around the objects to be coated. Given the high degree of repeatability of such systems, proper selection of paths and other process parameters can result in significant cost savings with improved performance. This paper provides a solution for an optimal path selection that paint on a Bezier curved surface. The optimal trajectory design problems mainly analyze how to find out a trajectory which results in minimal variation in accumulated film thickness on the surface of a workpiece while the paint thickness on the workpiece surface reach a certain characteristic and is kept uniform. They are generally formulated as a type of optimization problem known as a constrained variational problem. Standard nonlinear programming techniques can be used to determine its solution.Finally this paper simulates the situation on a Bezier curved surface of a workpiece to explain the selection of painting technics parameters and trajectory design and solutions of spray gun further. Given a specified spatial path and the Parameters of the finite-range type distribution function, some results are obtained by using general non-linear programming method. These results include average velocity trajectory and optimal trajectory. At last, an arithmetic is put forward to solve offset surface of the Bezier curved surface, and demonstrate the feasibility of these methods.