Trajectory Planning For Spray Painting Robot Under Coating Quality Constraints

The surface spraying of large complex components is still mainly based on manual spraying.In order to improve the spraying quality and production efficiency,it has become a trend to replace manual spraying by robot spraying.Due to large size and complex geometry of large complex components,it is hard to generate trajectories for spray painting robot.In this paper,a trajectory planning method for spray painting robot under coating quality constraints is proposed.This method contains the following three steps: Firstly,large complex components are divided into patches.Secondly,generate trajectory for each patch.Finally,the trajectories of all patches are integrated.In addition,a trajectory planning software for spray painting robot is developed.The main research work in this paper includes:Based on the tessellated CAD model and paint deposition rate model,a surface segmentation criterion is established.According to the criterion,a surface segmentation algorithm is designed.Simulations verify the effectiveness of the algorithm.To achieve uniform coating thickness,a multiobjective optimization model is established to solve the optimal paint gun velocity and the optimal spray width.A trajectory planning algorithm is designed to generate the spray trajectory for each single patch.Then,according to the effect of the spray trajectories of adjacent patches and spray efficiency,the trajectory planning algorithm is improved.To integrate the trajectories of the patches,the integration problem is analogous to the generalized traveling salesman problem.And a particle swarm optimization algorithm based on crossover and mutation is developed to solve the GTSP.Simulations verify the effectiveness of the PSO algorithm.Based on the trajectory planning method for spray painting robot of large complex components and OpenCASCADE,a trajectory planning software for spray painting robot is developed.A large wind turbine blade and a car door are input to test the performance of the software.Results verify the effectiveness of the trajectory planning method and the practicability of the software.