Coating Thickness Control And Spraying Robot Trajectory Planning Simulation

Spraying robots as modern painting production is a kind of important equipments at home and abroad, has been widely used. The results of spraying process are affected by many factors, such as process parameters and work piece surface shape, etc. Spraying mathematic model and automatic control system has been the focus of scholars at home and abroad.This topic research and practical spraying distribution of gauss function which is similar to the path generated spray model problem, research on the trajectory planning targeting for the thickness control. Using three-dimensional modelling software UG and combining with numerical tool MATLAB to robot spraying simulation. UG on front graphics can read various complex components, which makes this research method has extensive adaptability, the powerful mathematical processing and visual function of MATLAB makes the theoretical model can be further discussed. This major consists of the following parts:The first part introduces the research backgrounds of trajectory planning of the spraying gun in spraying robot, the significance and main structure of the off-line programming system for the spraying robot, spraying technology situation and the main content studied in this paper.The second part puts forward the mathematics model of spraying robot trajectory planning, Using existing coating growth model and spray model to track the iteration second derivative method to solve the spraying trajectory parameter.The third part focus on the realization techniques of the spraying simulation based on the coating thickness control theories, conducted further development on the base of UG to read the three-dimensional modelling components, spraying the documents, and collect the track points of coordinates as a pre-processing platform. Due to the flaws of STL as work pieces inputting to the UG, the repair work is too complicated, the system needs the STL files be restored previously.The fourth part uses the MATLAB as the mathematic modeling calculation and the post-processing tools. Calculate the curved surface, discussed the influence of processing parameters to the coating thickness, and then used the point cloud coordinates discussed in the third part to get the rules of the influence of processing parameters to the irregular surfaces.This thesis does simulations based on the coating thickness control for the mainly designed schemes. Simulation results show that the proposed method can solve mathematical models, and gain good spraying results.