Painting robot with three axis motion

Abstract

Paint was applied directly to the painted surface while painting with a brush. There are occasionally unsatisfactory outcomes, such as paint stacking or streaks remaining. Spray guns yield better paint results, therefore a robot was developed that can regulate the spray gun's movement in order to apply paint. A painting robot that resembles an arm is one that has three axes of movement. The robot can move left-right on the x axis, up-down on the y axis, and back-front on the z axis. Its end effector is a spray cannon. An ultrasonic sensor is used to measure the distance between components and the spray gun; when the sensor measures near distances, such as between 4 and 8 cm, the test sensor distance measurements have a larger average error. When the test reading distance is increased from 10 cm to 14 cm, the average error reduces. Superior painting outcomes can be achieved with a paint distance of 10 cm, an air pressure of 80 psi, and a spray gun arm movement speed of 25 rpm.  With average x-axis movement of 74.6 cm, y-axis movement of 14.8 cm, and z-axis movement of 88.2 cm, the largest volume that can be painted is 97,517.5 cm³. The rotation of the arm is used to determine the angular rotation needed to paint components. Painting the left side of the component at an angle of 10°, the back side at an angle of 100°, the right side at an angle of 190°, and only painting the front side of the component at the required angle of 90° require the rotational movement of the arm to the left.