Automatic spraying robot system for aircraft surfaces and spraying operation planning

摘要

A robot system proposed in this paper can be used to automatic spraying for aircraft and other products with large-scale free-form surfaces.The mechanical structure and control system structure of the spray system are described.The spraying operation process is analyzed in details,and the technologies related to the spraying operation planning,such as aircraft pose calibration and spray gun trajectory planning,are studied.Based on CATIA secondary development,the control software of the spraying system is developed, which seamlessly integrates all the software operations corresponding to the whole spraying process into ACTIA platform.Spray tests on the workpiece demonstrate that the robot system is running stable and reliable with high automation,which can effectively improve the coating quality.