机器人匀速喷涂涂层均匀性分析

Coating uniformity with a uniform robotic spray gun velocity

为优化机器人喷涂轨迹,采用厚度方差作为涂层均匀性评价函数,建立了基于抛物线喷涂模型的涂层均匀性模型,研究了匀速喷涂涂层均匀性。量纲一的计算结果表明重叠宽度是影响涂层平均厚度的主要因素,种子路径位置和喷涂工件宽度是次要因素。当重叠宽度为0.29-0.31时,厚度方差取得约为0.0025的最小值。以优化涂层均匀性为目标规划机器人喷涂轨迹,可只考虑重叠宽度,而忽略种子路径位置和喷涂工件宽度。

Coating uniformity model was developed to optimize spray painting robot trajectories, assuming uniform robot motion and a parabolic spray distribution with uniformity evaluated based on the thickness variation. Non-dimensional calculation shows that the overlap is a major factor influencing the mean coating thickness, with the seed path and work piece width as secondary factors. The minimum thickness variance was about 0.002 5 when the overlap was between 0.29 and 0.31. Thus, the overlap should be taken into account when planning spray painting robot trajectories, while the seed path position and work piece width can be neglected.