Novel integrated offline trajectory generation approach for robot assisted spray painting operation

Andulkar, Mayur V.; Chiddarwar, Shital S.; Marathe, Akshay S.

doi:10.1016/j.jmsy.2015.03.006

Cited by 61 publications

(35 citation statements)

References 9 publications

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“…In the Lagrange coordinate system, droplet trajectories were calculated by integration of the equation of motion, du p dt = F D u − u p + F G (1) in which u and u p are the velocity of gas and droplet, respectively; F D u − u p is the drag force; F G is the gravity force. Other forces, such as Saffman's lift and virtual mass force may be neglected, since the volume fraction of liquid is less than 1%.…”

Section: Mathematical Modelmentioning

confidence: 99%

“…Demonstration is not flexible, and the spraying quality depends more on workers' experience, while off-line programming can avoid such shortcomings. It goes like this: optimized objective function for best service quality is established according to the work-piece surface parameters and the model of coating thickness distribution and the spraying profile will be obtained through solving optimization problems [1].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Research on Distribution Properties of Coating Film Thickness from Air Spraying Gun-Based on Numerical Simulation

Xie

Wang

2019

Coatings

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This work aims to study the influence of the spraying parameters on the spray flow field and coating thickness distribution during the air spraying process. The shaping air pressure and the target geometry have an important influence on the distribution of coating film thickness. This paper begins with a 3-D physical model of an air spray gun, in which unstructured grids were generated for control domain. A grid independency study was also carried out to determine the optimal number of cells for the simulations. Then the Euler–Lagrange method was used to describe the two-phase spray flow by establishing a paint deposition model. The numerical simulation based on the discrete phase model (DPM) and TAB model has been carried out. A reasonable assumption was proposed based on the analysis of the spraying process, so that the droplets were injected into the airflow at the position of the paint hole. The influence of the shaping air pressure on the air flow field and the coating thickness distribution was analyzed by changing the shaping air pressure. From the numerical simulation results, it can be concluded that the smaller the shaping air pressure, the more concentrated the coating. With increasing the shaping air pressure, the length of the coating film along z-axis gradually increases, the width along x-axis gradually decreases, and the spray area gradually increases. The paper ends with a numerical simulation and experimental study on planar vertical spraying, planar tilted spraying, and cylinder spraying. Comparisons and experiment results verify the validity and practicability of the model built in this paper.

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Section: Mathematical Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Research on Distribution Properties of Coating Film Thickness from Air Spraying Gun-Based on Numerical Simulation

Xie

Wang

2019

Coatings

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show abstract

“…In order to minimize time cycles as well as to control paint thickness uniformity, painting path strategies designed to control painting overlap have been proposed in some studies. In their approach, Andulkar et al [19] calculated the optimal overlap distance between two consecutive passes according to the distribution model of the paint. In [20], the authors show that the generation of a spray gun trajectory that uniformly covers the surface not only relies on the definition of the path orientations and the spacing between passes but also on the speed along the passes.…”

Section: Scanning Overlap Controlmentioning

confidence: 99%

Scanner path planning with the control of overlap for part inspection with an industrial robot

Phan

Quinsat

Lavernhe

et al. 2018

Int J Adv Manuf Technol

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“…Order = 14.6mm, according to the spray path generation method proposed in this paper, secondary development is carried out by C++ in Robotstudio software, the spray paths are generated on the hood and fender of a brand car, respectively, and the results are shown in Figure 7. Figure 8 shows the spray path generated by previous method [1]; compared with the method in this paper, in order to ensure the coating thickness quality at the boundary of the workpiece, the previous method is used to plan the spray path to the outside of the workpiece, caused the gun to stay too long time outside the boundary of the patch and overspray, resulting in a large amount of unnecessary paint waste, especially at the irregular boundary of the workpiece.…”

Section: Spray Path Generation Simulationmentioning

confidence: 99%

“…As a kind of automation equipment, spray painting robot has been widely used in painting operations of automobile, ship, and aerospace. Aiming at the shortcomings of the artificial teaching programming method, the trajectory planning of spray painting robot around offline programming has been a hot topic for scholars at home and abroad [1][2][3]. Spray path and related parameters on the surface of the workpiece are important factors to determine the coating thickness uniformity, the spray efficiency, and the paint utilization, which are of great significance to the production.…”

Section: Introductionmentioning

confidence: 99%

Planning Method of Offset Spray Path for Patch considering Boundary Factors

Zhang

Xiao

et al. 2018

Mathematical Problems in Engineering

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To solve the problem of paint waste at the boundary of the patch when spraying, a planning method of offset spray path considering boundary of the patch is developed. By analyzing the causes of excessive paint waste at the boundary of the patch, a spray path planning method based on boundary curve of the patch is proposed, and the distance between the spray path and the boundary of the patch is optimized to reduce excessive paint waste. According to the allowable range of the spray height and the error range of the coating thickness, the variable range of the spacing distance is established; on this basis, the equal division method of plane intercept line is used to generate the discrete points of the spray path in the length direction of the patch, and a connection algorithm of the discrete points is used to generate the spray path of the patch. The simulation results show that the method can automatically generate a spray path based on the shape of the patch boundary; under the premise of meeting the uniformity requirements of the coating thickness, paint waste can be effectively reduced during spraying.

show abstract

Novel integrated offline trajectory generation approach for robot assisted spray painting operation

Cited by 61 publications

References 9 publications

Research on Distribution Properties of Coating Film Thickness from Air Spraying Gun-Based on Numerical Simulation

Research on Distribution Properties of Coating Film Thickness from Air Spraying Gun-Based on Numerical Simulation

Scanner path planning with the control of overlap for part inspection with an industrial robot

Planning Method of Offset Spray Path for Patch considering Boundary Factors

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