Tool trajectory optimization of spraying robot for outer or inner-horn surface with two patches based on varied dip-angle spraying

To solve the problems of paint waste, poor coating thickness uniformity and low spraying efficiency for outer or inner-horn surface with two patches in the vertical spraying technology, a continuous varied dip-angle spray trajectory planning method is developed.Several problems on the off-line programming system of a spray-painting robot have been resolved, such as coating growth rate model, trajectory generation method, coating thickness models and Trajectory Optimization.The results of simulations have shown that the optimization method is feasible and effective.