Spraying Trajectory Planning Of Spraying Robot On Small Curvature Surface

In actual spray operation, we frequently encounter small curvature surface(car surface, aircraft surfaces, cabinet surfaces, etc.), but there are still some deficienciesabout spraying trajectory planning that studying on small curvature surface. Therefore, in this paper carries out research on spraying robot trajectory planning.Researchmainly from obtainingthe surface of workpiece CAD model automatically, the establishment of paint film thickness distribution model on flat, cylindrical surface, and small curvature surface, spray trajectory planning and optimization on workpiece surface. Section profile of spray area is fitted based on a set of flat spraying experiment data, and then spraying trajectory planning and optimization algorithm on flat is given. By analyzing the factors that influence paint film thickness, a goal offilm uniformity optimization function is established, and then the function is solved by MATLAB to verify paint film thickness distribution model and trajectory planning and optimization algorithm.Using projection method to modify paint film thickness distribution model, based on it,an effective spray model on cylindrical and small curvature surface are established. Combining bubble algorithm and paint film thickness distribution model to study sprayingtrajectory planning and optimization on workpiece.In the research of the point cloud slicing algorithm, the point cloud de-noising algorithm based on PCA normal optimization is given.Using EVM to identity the feature point cloud and introduce bubble algorithm to sort slice contour data. The film overlap thickness of the trajectory planning is used as slice thickness, this not only improve the precision of slicing algorithm, but also increase efficiency of the points cloud slice and spraying trajectory planning.Finally, this paper uses automobiletank as experimental object, point cloud data of tankis collected by 3D scanner, then based on paint film thickness distribution model and trajectory planning algorithm the paper proposed spray experiment is researched, and it'sverifiedby analyzingthe paint film on tank surface.