Research And Application Of Robot Off-line Programming Technology For Bath-spraying

The ubiquitous application of spraying robots in smart-manufacturing asks for increasingly effective and safe processing where Robot off-line programming outweighs teaching method. Based on bath-spraying application and off-line programming framework, this paper focuses on the critical technology in sculptured surface processing: spraying parameters planning, trajectory thick interpolate and coordinative motion of the robot-positioner system.A spraying model on the consistency of coating thickness is proposed to optimize processing parameters. First, a ? distribution coating model describes how coating rate affects coating thickness and saves the trouble of integral calculation. Second, we analyze how spraying parameters affects coating thickness and realize it by a plane spraying test. The process parameter analysis of spray quality plays a guiding role in the programming of the actual spraying parameters.To reduce fluctuating velocity caused by robot point-to-point moving pattern, we put forward an off-line praying trajectory thick interpolate method based on cutter location planning method and trajectory smoothing method. In order to obtain a smooth trajectory between CL points and stable velocity, we fit initial CL points into a new path with cubic non-uniform rational B-spline curves and divide the path with Taylor expansion.An efficient allocation strategy can support the spraying system to run coordinately and smoothly. To remove the redundancy of robot-positioner system, we establish a coordinated movement model to improve the stableness of the system. Robot motion priority and positioner motion priority are designed. Then, particle swarm algorithm is used to solve the model mathematic function that contains multiple variables. The method proved by simulation promotes the performance of the system.Based on the research, we design a robot off-line programming system for bath-spraying application. The system is applied to HSR-JR608 robot and a test conducted on typical sanitary products proves the system to be effective.