Trajectory planning of nine-axial robotic system for inner surface thermal spraying

This article describes the trajectory planning for the nine-axial robotic spraying system for inner surface uniformly spraying. In order to complete the auto-spraying process for the inner surface of the workpiece, the triaxial positioner is introduced to constitute the nine-axial robotic spraying system to extend the motion freedom of the workpiece. The path planning method is based on the secondary development of an off-line programming system for painting robot. In order to minimize the coating thickness variation, the track pitch is determined, and the height and speed of the gun are optimized based on the geometric characteristic of the workpiece´s inner surface. Simulations show that the coating thickness and the coating uniformity can satisfy the requirement of spraying, it proves that these methods proposed in this paper are reasonable.