Trajectory analysis of painting robot on building wall

The researches on painting apparatus and trajectory analysis were carried out for the wall painting robot of a high-rise building wall with high painting quality. The method of simulating the motion of manual painting was selected, the driving scheme with the four-bar linkage was determined, and the structure of the brush was designed. Considering the painting track as the focus of the robot, trajectory equation of the zigzag painting track was established. The change rules of the track along with the speed and the lengths of the connecting rods under the condition of continuous and symmetrical painting were analyzed. The simulation results show that the faster the speed, the longer the motion period, the more dense the painting path. The length of the connecting rod A plays a more important role than that of other parameters in terms of influences on the width of the painting trajectory. Provide the guarantee for selecting the best painting trajectory to obtain optimum painting quality.