Arc Spray Gun New Models of Considering the Flow in the Process of Spraying for Spray-Painting Robot

When complex free surface is sprayed, for problem of spray gun trajectory optimization on the natural quadric surface, spray gun new arc trajectory model of considering the flow of spray gun is established based on the theory of the spray gun trajectory model for the two-dimensional and three-dimensional and by using the method of geometry derived. With the typical natural quadric surface of spraying the surface of spherical and cylindrical intersect as object, and combined with the new model to implement the trajectory planning, optimization of coating thickness function evaluation model is established. Finally, simulation results verify the effectiveness of the new model of arc spray gun.