Research On Spraying Robot Trajectory Planning

Spray painting robots as a very important painting production equipment, due to the flexibility and interactivity of their off-line programming system, widely used in automobiles, aircraft and other spray coating thickness of demanding products.The core the technology of off-line programming system is spray gun trajectory planning.Proper planning is the key to the robot spray evenly, so this paper trajectory planning method for the study, using the section method to obtain surface trajectory, follow the process parameters on the coating quality by establishing a uniform coating thickness model for trajectory optimization based on the theory of inverse kinematics trajectory validate the feasibility, main contents are as follows.① For coating technology and coating defects reasons were analyzed, and concluded that spraying path types, spraying distance and overlap between adjacent paths, spraying distance real-time posture, spraying speed etc as the conclusion of the main factors of affecting the quality of spraying.For free-form surface spray gun for subsequent trajectory generation and optimization method of study to lay the theoretical foundation.②In view of the free surface of workpiece is difficult to obtain gun path problem, read free surface geometry information algorithm based on MATLAB for the STL file read high quality;Slice method is put forward for the spray gun accurate position and attitude parameters, free surface spray gun trajectory planning was realized.③ Based on parabolic rate of single point function model, establishes the workpiece surface coating thickness and the thickness of the ideal thickness uniformity and objective function is minimum variance model;Algorithm based on coating thickness control simulation and experiments show that spraying interval overlap width is planar spraying quality factor, the optimal overlapping width for spraying radius of 0.392 times.④ Painted with ABB IRB4400 robot as application object, based on the characteristic point to calibration of artifacts, spraying systems coordinate system;Research on robot cartesian trajectory planning theory, the realization of spray gun path interpolation, based on the inverse kinematics theory, get track interpolation points corresponding Angle of each joint motion parameter, the experiment proved that the robot’s joint movement smoothly, without interference and collision, the trajectory can be executed.