Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique
In this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obta...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-05-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/9/6/908 |
| _version_ | 1797566683425013760 |
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| author | Wei Chen Xu Li Huilin Ge Lei Wang Yuhang Zhang |
| author_facet | Wei Chen Xu Li Huilin Ge Lei Wang Yuhang Zhang |
| author_sort | Wei Chen |
| collection | DOAJ |
| description | In this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obtained by laser scanning. The point cloud data is processed to obtain the point cloud model of the sprayed workpiece. Then the section polysemy line is obtained after slice acquisition and section data processing of the point cloud model. The section polysemy line is sampled on average, and the normal vector of all sampling points is estimated. Finally, interpolation algorithm is used to connect the data points to obtain the space trajectory of spraying robot. In addition, the droplet trajectory model for electrostatic spray painting is established. The experimental results show that the method fully meets the requirements of coating thickness and improves the spraying efficiency and uniformity of coating. |
| first_indexed | 2024-03-10T19:30:57Z |
| format | Article |
| id | doaj.art-b45bcda76e984e1ab29ad5daa2217100 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T19:30:57Z |
| publishDate | 2020-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-b45bcda76e984e1ab29ad5daa22171002023-11-20T02:11:58ZengMDPI AGElectronics2079-92922020-05-019690810.3390/electronics9060908Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing TechniqueWei Chen0Xu Li1Huilin Ge2Lei Wang3Yuhang Zhang4School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaSchool of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, ChinaIn this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obtained by laser scanning. The point cloud data is processed to obtain the point cloud model of the sprayed workpiece. Then the section polysemy line is obtained after slice acquisition and section data processing of the point cloud model. The section polysemy line is sampled on average, and the normal vector of all sampling points is estimated. Finally, interpolation algorithm is used to connect the data points to obtain the space trajectory of spraying robot. In addition, the droplet trajectory model for electrostatic spray painting is established. The experimental results show that the method fully meets the requirements of coating thickness and improves the spraying efficiency and uniformity of coating.https://www.mdpi.com/2079-9292/9/6/908point cloud slicingsurface modelingtrajectory planningelectrostatic spray painting |
| spellingShingle | Wei Chen Xu Li Huilin Ge Lei Wang Yuhang Zhang Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique Electronics point cloud slicing surface modeling trajectory planning electrostatic spray painting |
| title | Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique |
| title_full | Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique |
| title_fullStr | Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique |
| title_full_unstemmed | Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique |
| title_short | Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique |
| title_sort | trajectory planning for spray painting robot based on point cloud slicing technique |
| topic | point cloud slicing surface modeling trajectory planning electrostatic spray painting |
| url | https://www.mdpi.com/2079-9292/9/6/908 |
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