In the study of spray path planning, Zhou and Cai et al. 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. 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. IntroductionĪs a kind of automation equipment, spray painting robot has been widely used in painting operations of automobile, ship, and aerospace. 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. 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.

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. 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.

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