Robot Trajectory Generation on Free-Form Work Pieces for Thermal Spray Using

Robot trajectory generation on free-form work pieces for thermal spray using

Zhen-Hua Cai^a, Si-Hao Deng^a, Han-Lin Liao^a, Chun-Nian Zeng^b, Christian Coddet^a

^a LERMPS, Université de Technologie de Belfort-Montbéliard, 90010 Belfort, France

^b Wuhan University of Technology, 430070 Wuhan, China

Off-line programming software is widely used to simulate the robotic work environment nowadays. Such as Robotstudio™, it is a product of ABB which offers off-line programming technology for industrial robot. Many extended software products which based on Robotstudio™ are developed to meet special purposes. This study introduces extended software named thermal spray toolkit (TST) to adapt to thermal spray applications. With the help of TST, Robotstudio™ can read in the mesh information which generated by ANSYS, and then create the trajectory of robot with it. Method of arranging the index of grid nodes which generated by ANSYS is also introduced in this article. The results show that the robot trajectory created with this toolkit is successive and uniform, suitable to the industrial using.