로봇 Off-Line Programming을 위한 페인트 스프레이 시뮬레이션 방법론 개발

An Accurate and Efficient Method of the Spray Paint Simulation for Robot OLP

  • 이승찬 (아주대학교 기계공학과 대학원) ;
  • 송인호 (아주대학교 기계공학부) ;
  • 범진환 (아주대학교 기계공학부)
  • 발행 : 2008.08.31

초록

Recently, various attempts are being done to apply off-line programming system to field of paint robot. But most commercial simulation softwares have problems that are slow simulation speed and not support various painting paramenters on simulation. This paper proposes enhanced paint simulation method for off-line programming system. For these, this method used the mathematical model of flux field from a previous research. The flux field has the flux distribution function, which reflects on the feature of paint spray. A previous research derived this flux distribution function for an integral function and calculated paint thickness function for an integral function. But if flux distribution function is defined as an integral function, it is inadequate to use for real-time simulation because a number of calculation is needed for estimation of paint thickness distribution. Therefore, we defined the flux distribution function by numerical method for reducing a mount of calculation for estimation of paint thickness. We derived the equation of paint thickness function analytically for reducing a mount of calculation from the paint distribution function defined by numerical method. In order to prove proposed paint simulation method this paper compares the simulated and measured thickness. From this comparison this paper show that paint thickness distribution is predicted precisely by proposed spray paint simulation process.

키워드

참고문헌

  1. Noh, S. D. and Park, Y. J., "Material Planning Information Management for Automotive General Assembly using Digital Factory", Transactions of the Society of CAD/CAM Engineers, Vol. 9, No. 4, pp. 325-333, 2004
  2. Kim, G. Y., Noh, S. D., Lee, I. S. and Song, M. H., "PPR Information Managements for Manufacturing of Automotive Press Dies", Transactions of the Society of CAD/CAM Engineers, Vol. 12, No. 6, pp. 452-460, 2007
  3. Ying, B., Zhuang, H. and Roth, Z. S., "Experiment Study of PUMA Robot Calibration Using a Laser Tracking System", IEEE International Workshop on Soft Computing in Industrial Applications, pp. 139-144, 2003
  4. Hertling, P., Hog, L., Larsen, R., Perram, J. P. and Petersen, H. G., "Task Curve Planning for Painting Robots - Part I: Process Modeling and Calibration", IEEE Transaction on Robotics and Automation, Vol. 12, No. 2, pp. 324-330, 1996 https://doi.org/10.1109/70.488951
  5. Dassault Systemes, Delmia IGRIP Online Documentation Paint Application for IGRIP and ENVISION, Chapter 5.1 Paint Tutorial
  6. Persoons, W. and Van Brussel, H., "CAD-based Robotic Coating of Highly Curved Surfaces", Proc. ISIR., Vol. 24, pp. 611-618, 1993
  7. Suh, S. H., Woo, I. K. and Noh, S. K., "Development of an Automatic Trajectory Planning System (ATPS) for Spray Painting Robots", Proc. IEEE Int. Conf. Robotics and Automation, Vol. 3, No. 9-11, pp. 1948-1955, 1991
  8. Arikan, M. A. and Balkan, T., "Process Modeling, Simulation and Paint Thickness Measurement for Robotic Spray Painting", Journal of Robotic Systems, Vol. 17, No. 9, pp. 479-494, 2000 https://doi.org/10.1002/1097-4563(200009)17:9<479::AID-ROB3>3.0.CO;2-L
  9. Steven C., Applied Numerical Methods with MATLAB for Engineers and Scientists, McGraw Hill, 2005
  10. Conner, D. C., Atkar, P. N., Rizzi, A. and Choset, H., "Paint Deposition Modeling for Trajectory Planning on Automotive Surfaces", IEEE Transaction on Automation Science and Engineering, Vol. 2, No. 4, pp. 381-392, 2005 https://doi.org/10.1109/TASE.2005.851631
  11. Chen, H., Sheng, W., Xi, N., Song, M. and Chen, Y., "Automated Robot Trajectory Planning for Spray Painting of Free-form Surfaces in Automotive Manufacturing", In Proc. IEEE Int. Conf. Robotics and Automation, Vol. 1, pp. 450-455, 2002
  12. John, J. C., Introduction to Robotics Mechanics and Control 3nd Edition, Prentice Hall, 2005