Tool Trajectory Optimization of Spray Painting Robot for ManyTimes Spray Painting

Abstract

Spray gun trajectory optimization of spray painting robot is highly desirable for today’s automotive manufacturing. Sometimes, the way of many-times spray painting is used to meet the technological requirements. In this paper, a new spray gun trajectory optimization method of many-times spray painting for the plane has been developed after complex surface partitioned. Based on the spray gun trajectory optimization of one-time spray painting, the method utilizes the coating thickness superposition cycle and status number to establish the coating thickness superposition model for many-times spray painting and to optimize the spray gun trajectory of many-times spray painting. The number and cycle of coating thickness superposition status are developed to modeling the coating thickness distribution model for many-times spray painting. The coating thickness deviation from the required coating thickness is optimized by modifying the offset distance between the subsequent spray gun trajectory and the first spray gun trajectory. The results of simulations have shown that the spray gun trajectory optimization of many-times spray painting achieves satisfactory performance, the coating thickness uniformity satisfy high standard requirement.