Hostname: page-component-8448b6f56d-wq2xx Total loading time: 0 Render date: 2024-04-18T05:01:38.625Z Has data issue: false hasContentIssue false
  • English
  • Français

CAD-Based off-line programming of painting robots

Published online by Cambridge University Press:  09 March 2009

Alexandr Klein
Alexandr Klein
Affiliation:
Computer and Automation Institute, Hungarian Academy of Sciences, Budapest, Hungary
Get access Rights & Permissions [Opens in a new window]

Summary

The complex model presented in this paper consists of three main parts: (a) a model of the robot; (b) tools for building and displaying models of workpieces to be painted; (c) a model of the spatial distribution of the paint particles. The simulation process is preceded by the creation of the surface to be coated. A colour graphic display is used for this purpose. The surface appears on the screen together with the robot (hidden line elimination is included). The “spray gun” is installed at the robot's tip and its orientation, performance and other characteristics are to be set. The paint particles sprayed are supposed to form a cone, and by considering its intersection with the surface, the amount of paint delivered to any point can be evaluated and visualized in different colours. The operator simulates the process of painting by moving the spray gun, changing the parameters (speed, distance, etc.), erasing and repeating any step of the process. He can also work in an automatic path generation mode. The result is a near-to-optimal path of the robot's tip (minimizing paint loss and providing a good evenness of coating).

Keywords

PaintingRobotsOff-lineProgrammingCAD
Type
Article
Information
Robotica , Volume 5 , Issue 4 , October 1987 , pp. 267 - 271
Copyright
Copyright © Cambridge University Press 1987

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Tarvin, R.L., “An off-line programming approach” Robotics Today 30–35 (1981).Google Scholar
2.Lozano-Perez, T., “Robot programming” Proc. of the IEEE 71, No. 7, 821–841 (1983).CrossRefGoogle Scholar
3.Grunewald, P., “Car body painting with the spine spray system” Proc. of the 14th Int. Symposium on Industrial Robots Gothenburg 633–641 (1984).Google Scholar
4.Frederiksson, L.-B., “Robotics in a spray-up process” Proc. of the 14th Int. Symposium on Industrial Robots, Gothenburg 297–303 (1984).Google Scholar
5.Bazerghi, A. et al. , “An exact kinematic model for PUMA 600 manipulator” IEEE Trans. SMC-14, No. 3, 483–487 (1984).Google Scholar
6.Hauke, W., “Stromungstechnische Untersuchungen an Dusen fur das Druckluftstrahlen” Machinenbautechnik 31, No. 2, 87–90 (1982).Google Scholar
7.Klein, A., “Off-line programming for robot painters” Proc. of the 14th Int. Symposium on Industrial Robots, Gothenburg 497–504 (1984).Google Scholar