TY  - JOUR
AB  - Purpose This paper aims to present a new trajectory optimization approach targeting spray painting applications that satisfies the paint thickness requirements of complex-free surfaces.Design/methodology/approach In this paper, a new trajectory generation approach is developed to optimize the transitional segments at the junction of adjacent patches for straight line, convex arc and concave arc combinations based on different angles between normal vectors of patches. In addition, the paint parameters including the paint gun velocity, spray height and the distance between adjacent trajectories have been determined in the generation approach. Then a thickness distribution model is established to simulate the effectiveness of trajectory planning.Findings The developed approach was applied to a complex-free surface of various curvatures, and the analysis results of the trajectory optimization show that adopting different transitional segment according to the angle between normal vectors can obtain the optimal trajectory. Based on the simulation and experimental validation results, the proposed approach is effective at improving paint thickness uniformity, and the obtained results are consistent with the simulation results, meaning that the simulation model can be used to predict the actual paint performance.Originality/value This paper discusses a new trajectory generation approach to decrease the thickness error values to satisfy spray paint requirements. According to the successfully performed simulation and experimental results, the approach is useful and practical in overcoming the challenge of improving the paint thickness quality on complex-free surface.
VL  - 46
IS  - 1
SN  - 0143-991X
DO  - 10.1108/IR-02-2018-0033
UR  - https://doi.org/10.1108/IR-02-2018-0033
AU  - Guan Liwen
AU  - Chen Lu
PY  - 2019
Y1  - 2019/01/01
TI  - Trajectory planning method based on transitional segment optimization of spray painting robot on complex-free surface
T2  - Industrial Robot: the international journal of robotics research and application
PB  - Emerald Publishing Limited
SP  - 31
EP  - 43
Y2  - 2024/09/22
ER  -