Robot Kinematic Analysis For Torch Setup Optimization In Thermal Spraying

Nowadays, the application of industrial robots in the field of thermal spray becomes gradually important. A desired coating quality depends on the factors such as a balanced robot performance, a uniform scanning trajectory and stable parameters (e.g. scanning step, spray angle, relative speed). Meanwhile, all these factors will affect the coating formation and the mass and heat transfer. As a result, the kinematic optimization from all these aspects is the key factor for thermal spray applications. In this study, the robot performance will be optimized from the aspect of torch installation on the robot. Robot kinematic data will be obtained from off-line programming software and analyzed by statistic method. The results showed that this method can optimize the robot trajectory generated on the specific surface. It can also assign the amount of motion reasonably to each axis of the robot during the process, to achieve the constant relative scanning speed.