Process modeling, simulation, and paint thickness measurement for robotic spray painting

2000-09-01
An algorithm and a computer program are developed for modeling of the spray painting process, simulation of robotic spray painting, and off-line programming of industrial robots for painting of curved surfaces. The computer program enables the user to determine the painting strategies, parameters, and paths which will give the desired paint thickness. Surface models of the parts that are to be painted are obtained by using a computer-assisted design (CAS) software. Models of relatively simple surfaces are formed by using the surface generation tools of the CAD software. For parts with more complex surfaces, point data related to the part is collected by using a laser scanner, and this data is used to form the CAD model of the part surface. The surface is then divided into small. triangular elements and centroid coordinates, and unit normals of the elements are determined. Surface data together with the spray distance, painting velocity, and paint flow rate flux are used for simulation of the process and paint thickness analysis. Paint flow rate flux is determined experimentally by using different spray gun settings and painting parameters. During the experiments flat surfaces are painted by using a single painting stroke of the gun. Then, paint thickness measurements are made on the surfaces. It is observed that besides the technical specifications of the spray gun, air and paint nozzles, and paint needle, basic settings like paint tank pressure, spray air pressure, and gun needle-valve position affect paint cone angle and paint flow rate, which finally characterize the spray painting process. For that reason, settings and parameters should be changed and the painting process should be simulated until an acceptable paint thickness distribution is obtained for the part that is going to be painted. The robot program is then generated in the robot's programming language. Paint thickness distribution on the painted surface is determined by measuring the thicknesses using the robot and the CAD model of the part surface. The thicknesses are at the centroids of the surface elements. A measurement probe of the coating thickness measurement gauge is attached to the wrist of the robot by using a feedback/safety adapter designed and manufactured for this purpose, (C) 2000 John Wiley & Sons, Inc.
JOURNAL OF ROBOTIC SYSTEMS

Suggestions

Process simulation and paint thickness measurement for robotic spray painting
Arıkan, Mehmet Ali Sahir; Balkan, Raif Tuna (2001-01-01)
A method and a computer program are developed for modeling of spray painting process, simulation of robotic spray painting, off-line programming of industrial robots and paint thickness measurement for painting of curved surfaces. The computer program enables the user to determine the painting strategies, parameters and paths. Surface models of the parts that are to be painted are obtained by using a CAD software. For paint thickness measurements, probe of the coating thickness measurement gage is attached ...
3D synthetic human face modelling tool based on T-spline surfaces
Aydoğan, Ali; Ulusoy, İlkay; Department of Electrical and Electronics Engineering (2007)
In this thesis work, a 3D Synthetic Human Face Modelling Software is implemented using C++ and OpenGL. Bézier surfaces, B-spline surfaces, Nonuniform Rational B-spline surfaces, Hierarchical B-Spline surfaces and T-spline surfaces are evaluated as options for the surface description method. T-spline surfaces are chosen since they are found to be superior considering the requirements of the work. In the modelling process, a modular approach is followed. Firstly, high detailed facial regions (i.e. nose, eyes,...
Cooperation control of three UAV’s for Aerial Rescue and Aerial Retrieval
Erkmen, Aydan Müşerref; Yavrucuk, İlkay (IEEE; 2009-12-14)
In this paper two new conceptual robotic system designs, called 'aerial-retrieval' and 'aerial-rescue' are presented and demonstrated by simulation results. The Unmanned air vehicles (UAV) used in this design are thrust vector controlled robotic systems. The 'aerial-retrieval' concept aims at entrapping and retrieving a (lost) floating object in the air. The second concept, 'aerial-rescue' aims at rescuing a free falling object (e.g. a person) in the air using a stretched net attached to the UAV's. Position...
Object recognition and cognitive map formation using active stereo vision in a virtual world
Ulusoy, İlkay; Halıcı, Uğur (2003-01-01)
©2003 IEEE.In this paper we describe an algorithm for object recognition and cognitive map formation using stereo image data in a 3D virtual world where 3D objects and a robot with stereo imaging system are simulated. Stereo imaging system is simulated so that the actual human visual system properties such as focusing, accommodation, field of view are parameterized. Only the stereo images obtained from this world are supplied to the virtual robot (agent). By applying our disparity algorithm on stereo image ...
Numerical investigation of free surface and pipe flow problems by smoothed particle hydrodynamics
Dinçer, Ali Ersin; Bozkuş, Zafer; Department of Civil Engineering (2017)
In the present study, a two-dimensional (2D) computer code for free surface and pipe flows is developed by using Smoothed Particle Hydrodynamics (SPH) approach. For free surface flow problem, idealized dam break problems are investigated numerically. The results of three recently published experimental studies are used to validate the numerical solutions. In addition to mesh-free particle method, SPH with a novel boundary treatment model proposed in the present study, mesh-based methods with turbulence and ...
Citation Formats
M. A. S. Arıkan and R. T. Balkan, “Process modeling, simulation, and paint thickness measurement for robotic spray painting,” JOURNAL OF ROBOTIC SYSTEMS, pp. 479–494, 2000, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/53775.