Trajectory Planning And Simulation Of Dip Angle Spraying Based On Horns Surface

Robot spray painting is widely used in the painting operations of automobile industries.At present,the quality is affected by work experience of skilled technical workers,thus spray efficiency and paint utilization cannot be guaranteed.And for complex shape surfaces such as corner surfaces,the requirements for spray quality cannot be met.In this paper,dip angle spraying and online programming technology are adopted to meet the needs of flexibility and automation in modern spraying industry.The specific research work is as follows:(1)Considering the waste of coatings and the uneven coatings thickness on the corner surface,continuous variable inclination and equal inclination spraying are introduced.For the dip coating growth rate modeling problem,using parabolic distribution model and differential geometry theorem builds the coating growth rate model of the variable dip angle.According to two kinds of spraying schemes,the corresponding dynamic coating thickness superposition model is established.Based on the established spraying thickness model and multi-constraints optimization algorithm,the optimization of dynamic spraying parameters is studied.(2)the fan angle of spray gun and the normal angle between two patches are considered into the influence of spraying technology.A new trajectory planning algorithm is used to optimize the spray trajectory at the junction of two patches for the convex combination and the concave combination.The influence laws of normal angle on paint thickness uniformity are obtained to planning spray technology to satisfy the paint thickness requirements.(3)The horns surface’s point cloud is obtained by Kinect and is processed by the Point Cloud Library.Spraying path planning is conducted by using point cloud slicing technology.Finally,the end trajectory equations of spraying actuator are solved by the random sampling consistency algorithm.(4)Based on the ROS platform,the motion planning and control simulation of the spraying robot is studied.The virtual simulation model of the painting robot is established using the basic geometry(cylinder,cube,plane).The trajectory planning of spraying robot and camera calibration is carried out in Gazebo.the controller part of the spraying robot is created and dip angle online spraying simulation is conducted in Gazebo.