Research and Simulation on the Spray Painting Trajectory of Manipulator for Rotational Artware

Based on the research of the mathematical model of the spray painting film thickness and the requirement of spray painting technology of rotational artware, the coordinate transformation of spray torch and the expression of the projection is derived. The way of turn-by-turn spray painting is adopted, and the rotation speed of artware and the trajectory of the spray gun are determined by the requirements of film thickness. By analyzing the impact of the spray painting starting point on the film thickness, the best trajectory of spray painting is achieved. The result of the simulation on the theoretical analysis indicates the feasibility and validity of the calculation method.