Trajectory Planning And Simulation Of Spray Manipulator For Furniture Surface Painting

As a result of the furniture painting application, to satisfy the present requestion of the furniture industry, painting robot can realize the furniture surface automatic spraying. In the automatic spraying procession, the paint consumption, the paint time, and consistent coating thickness are all correlation with the mechanical arm movement directly, the choice of the suitable way and other paint parameter of correlate procession may save the consumption greatly. In this paper, researching the solution procession of the spray gun optimized path in painting system, discussing the choice of the spray coating technological parameter, according to the demand in the furniture industry, improved the original method to enable it to have the spray gun traveling speed controllability, which could satisfy the different spray coating demand. Its main purpose is to achieve better spray coating effect and raise the economic efficiency and the spray coating quality.In this paper, on the basics of after researching three kinds of mathematical model about varnish film growth rate ,according to the relation between varnish film growth rate and spray gun traveling speed, join the revision parameter in the model, through adjusting the value of this parameter, obtaining the varnish film growth rate model that satisfies the requestion of different spray gun traveling speed, which increase the solution precision, and make the path more satisfy the practical application. In view of the characteristic of furniture spray coating, exhibiting the design method and concrete process for furniture surface and realizing the path optimization and simulation in the plane and the free surface. In the paper ,proposed the optimized spray coating method also has not yet been limited to the painting system or surface, which has the universal significance.After researching the robot's pose and kinematics question, using the parameter transform method and exhibiting the mechanical arm's concrete parameter which is the foundation for establish the mechanical arm model and the painting mechanical arm movement simulation. According to the optimized method of spray gun path which is got, the movement simulation about the mechanical arm has been realized with Matlab in the three-dimensional space, which manifested the spray coating effect and the mechanical arm movement rationalitand confirmed the method is feasibility according to the method achieved in this paper.