Automatic Programming System of Painting Robots for Unstructured Workpieces Spraying

Spraying technology has been applied more and more widely in aeronautical manufacturing field. However, aeronautical test workpieces usually have unstructured and complex shapes, which makes the spraying inefficient and the quality of coating cannot be guaranteed. Therefore, this paper designs an automatic programming and simulation system for aeronautical workpiece spraying. And the kinematics and inverse kinematics modeling of NACHI robot, spraying parameters optimization and trajectory planning of the robot are studied in detail. This paper also designs the simulation experiments on typical aeronautical test workpieces, and the result shows that this system can improve the spraying efficiency and coating thickness effect, which has a certain universality and effectiveness.