Computation of spraying deposition thickness on parametrized surfaces using moving frame method

Authors

Shuzhen Zhang College of Mechano-Electronic Engineering, Lanzhou University of Technology, 287 Lan Gong Ping Road, Lanzhou, 730050, Gansu, China Author
Jianlong Huang College of Mechano-Electronic Engineering, Lanzhou University of Technology, 287 Lan Gong Ping Road, Lanzhou, 730050, Gansu, China Author
Minxiu Kong Robot Research Institute, Harbin Institute of Technology, 2 Yi Kuang Street, Harbin,150080, Heilongjiang, China Author
Chunling Li College of Mechano-Electronic Engineering, Lanzhou University of Technology, 287 Lan Gong Ping Road, Lanzhou, 730050, Gansu, China Author
Chungton Pan University of Hawaii at Manoa, 2447 Dole Street Honolulu, Honolulu, HI 96820, United States Author

Spray Coating Thickness, Moving Frame, Spraying Velocity Ratio, Spraying Position and Orientation coefficient

This paper discusses the difficulties and current limita

tions of approaches which use static reference coordinates

when planning appropriate trajectories for robotic spray guns

as they attempt to apply even coating thicknesses to curved

surfaces. It then proposes a calculative method, using moving

frame of method, which can be used for successfully model

ing such trajectories for continuous spraying onto parametric

surfaces. Two coefficients are defined. The first is the ratio of

the velocity of accumulation of coating thickness at any point

in the sprayed area compared with that the spraying center,

another one relates the position and orientation at any point

relative to the spray gun. Taking a surface of rotation as an

example, and considering the travel velocity of the spray gun

and the spraying space as variables, we apply the method to

compute the continuous-spraying deposition thickness, in or

der to allow trajectory optimization to minimize coating thick

ness deviation on the sprayed surface. We also apply Matlab

programming to conduct a numerical computation verifica

tion, the result of which shows that this computing method

represents an improvement over static coordinate methods in

terms both of applicability and validity for spray-trajectory

planning for the parametrized surfaces.