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Methodology for automatic generation of optimal spraying trajectories for complex concave surfaces
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024) Ramírez Ríos, David; Izquierdo Reyes, Javier; emimmayorquin; Rodríguez Padilla, Ma. Consuelo; Guedea Elizalde, Federico; Navarro Duran, David; Escuela de Ingeniería y Ciencias; Campus Ciudad de México; Romero, David
Spray coating operations are one of the most common applications for industrial robots. Once an optimal spraying trajectory has been set, the repeatability, accuracy, and productivity of the industrial robots make them ideal for these tasks, continuously achieving homogeneous coating thickness without putting human operators in hazardous environments. However, the increasing complexity of the manufactured pieces enlarges the di culty of finding optimal spraying tra- jectories, which in turn increases the time to automate new spraying operations. Even though several technologies like dip-coating have been developed to achieve low thickness deviation for complex surfaces, there are contexts where applying these technologies is simply unfeasible. Therefore, various o✏ine programming-assisted methodologies have been developed to increase the quality of the coating and reduce the automation time of new spraying processes, but few can be applied to concave surfaces, and none have been reported to cope with very complicated surfaces such as those encountered in the SMP molds. In this work, a framework for generating a set of strokes based on low curvature, and loop-free cubic B ́ezier curves that avoid collisions with the surface was developed and tested on the surface of a semi-permanent mold employed on gravity die casting. This methodology aims to reduce the burden of the automation process of spraying operations for complex concave surfaces.

Ciencias Exactas y Ciencias de la Salud

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