Robotic Trajectories Auto Generation And Optimization In Thermal Spraying

The technology of the industry robot is a branch of the technology of robot, and it presents the highest level of Mechatronic Engineering. With the development of the technology, the industry robot has became the robotistic tools for FMS, FA, CIMS, etc. Thermal spraying is new technology about surface consolidation, and this technology develops rapidly. In the thermal spraying, people heat the metal and nonmetal to the state of being melted or half being melted and spraying it on the surface of the base material using special methods and equipments. These metal and nonmetal will sedimentate and form the coat. The thermal spraying can be used both in the prevention of products and in repair the invalid products. But the process of thermal spraying always goes with high temperature, high pressure and toxic gas which are harmed for health. Application of the industry robot to thermal spraying can not only solute this problem but also increase the precision, enhance the effect of coat, reduce the work intensity, improve the productivity. Robotic off-line programming software has been used widely, but just used for weld and cut. At present, the Package for thermal spraying based on off-line programming software is developed.This thesis origins from LERMPS(Laboratoire d'Etudes et de Recherches sur les Materiaux, les Procedes et les Surfaces) thermal spraying laboratory. Through analysis the package of RobotStudio^TM and the transform relation of the quaternion, RPY angle, rotating matrix in the robot system, the method of creating the spraying path in square is optimized and the upgrade software is programmed. This software t can create the spraying path automatically, rapidly and accurately and greatly on any surface of the square device.When the robot sprays the complex curved surface and a large angle on the surface exists, the spraying speed of the robot can't be constant, so that the coat also can't be uniform. To solute this problem, this thesis puts forward the method for optimizing the spraying path. The experiments show that this method can make the spraying speed of the robot stable basically and improve the spraying effect. This software also applies this method by VB programming. It can also create the spraying path automatically, rapidly and accurately and greatly increase the efficiency of thermal spraying.