A robot trajectory sample algorithm for optimizing thermal spraying torch velocity on the complex surface

摘要

During the process of thermal spray applications, the spray torch is usually driven by the robot, and its movements are in turns controlled by robot trajectories. The increasing requirements of coating productivity lead to the objectivity of generating robot trajectories on the complex surface. However, when the spray torch moves in a constant given torch velocity, the large curvature change of the coating surface will cause the sudden transition of one or several robot axes and thus lead to the undulation of torch velocity. This study aims at introducing a new trajectory point sample algorithm for optimizing the robot trajectory, and thus leads to desired torch velocity. Thermal distribution analysis of the thermal spray process is carried out to check the reliability of the optimization algorithm and the optimized robot trajectory.