Optimal Robot Path for Minimizing Thermal Variations in a Spray Deposition Process

This paper describes a method for determining the optimal robot path that minimizes thermal variations over a surface during a spray deposition process, where the deposited material is hotter than the surface. An analytical expression is formed for the amplitude of the thermal modes of the surface temperature profile. This expression is then used to determine the optimal robot velocity, scan angle, and start position. Experimental results from a metal spray deposition process are used to confirm the analysis