Yong Zeng, Yang Chen, Yakun Zhang, Hai Zhou, and Chunwei Zhang
Spraying robot, outer-horn surface, varied dip-angle, trajectory planning, optimization
To solve the problems of paint waste and low spraying efficiency for outer-horn surface with two patches in the vertical spraying technology, a continuous varied dip-angle spray trajectory planning method is developed. The area amplification theorem of differential geometry is used to establish a coating growth rate model of varied dip-angle spray. The trajectory generation method is developed to generate the continuous varied dip-angle spray trajectory. The varied dip-angle spraying trajectory is divided into sections to establish the dynamic coating thickness models of each spraying area. The coating thickness deviation from the required coating thickness is optimized by modifying the spray gun velocity and the spray height. The results of simulations have shown that the optimization method is feasible and effective.
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