The tool trajectory optimization of spray painting robot for spherical surface

After the big curvature complex curved surface partition, for the spray trajectory optimization on spherical surface. Based on the existing 2D model of spray tool, the spray tool 3D model was deduced on spherical surface. Combined with the bounding box method, a generated method of spray tool trajectory was given. Use the methods of adjust spray radius and trajectory partition to discuss the calculational method of coating thickness and optimization of parameters for spherical surface. Simulation results show that optimization algorithm is feasible, compared with existing methods, the coating uniformity is improved, the spray velocity show the non-linear variations with spacing distance and others show the linear variations.