Russian Federation
from 01.01.2001 to 01.01.2024 Voronezh, Russian Federation
UDC 005
This paper investigates the influence of technological motion parameters of the KUKA KR6 900 robot manipulator on coating uniformity and paint consumption during the painting of large-scale metal structures. A mathematical spraying model is proposed, relating layer thickness to the distance to the surface, spray angle, and linear velocity of the paint sprayer. Based on a full 2^3 factorial experiment with three replicates at the center point, regression models for paint consumption and the coefficient of thickness variation were established as functions of the specified parameters. It is demonstrated that trajectory optimization, maintaining a distance of 240–260 mm, an angle of 85°–90°, and a speed of 450–550 mm/s, reduces material consumption by 12–18% while keeping the coating thickness variation coefficient below 8%.
robotic painting, trajectory optimization, paint consumption, coating uniformity, full factorial experiment, regression analysis, KUKA KR6 900
1. Kodackaya, A. S. Proektirovanie robotizirovannogo kompleksa dlya okraski krupnogabaritnyh metallicheskih konstrukciy / A. S. Kodackaya, A. A. Gribanov, A. A. Mescheryakova // Aktual'nye problemy avtomatizacii, robotizacii i upravleniya v tehnicheskih, organizacionnyh, ekonomicheskih sistemah : Materialy Vserossiyskoy nauchno-prakticheskoy konferencii prepodavateley i specialistov i Vserossiyskoy nauchno-prakticheskoy konferencii studentov i molodyh uchenyh, Voronezh, 27 marta – 08 aprelya 2025 goda. – Voronezh: Voronezhskiy gosudarstvennyy lesotehnicheskiy universitet im. G.F. Morozova, 2025. – S. 353-358. – DOIhttps://doi.org/10.58168/AIARMTOES2025_253-358.
2. Drobina, E. A. Intellektual'naya sistema upravleniya robototizirvannym pokrasochnym kompleksom / E. A. Drobina // INNOVACIONNOE RAZVITIE nauki i OBRAZOVANIYa : sbornik statey IX Mezhdunarodnoy nauchno-prakticheskoy konferencii : v 2 ch., Penza, 12 yanvarya 2020 goda. Ch. 1. – Penza: "Nauka i Prosveschenie" (IP Gulyaev G.Yu.), 2020. – S. 93-95.
3. GOST 9.401-91. Edinaya sistema zaschity ot korrozii i stareniya. Pokrytiya lakokrasochnye. Obschie trebovaniya i metody uskorennyh ispytaniy na stoykost' k vozdeystviyu klimaticheskih faktorov : mezhgosudarstvennyy standart : izdanie oficial'noe : utverzhden i vveden v deystvie Postanovleniem Gosudarstvennogo komiteta SSSR po upravleniyu kachestvom produkcii i standartam ot 29.03.91 № 335 : data vvedeniya 1992-07-01. – Moskva : Standartinform, 2007. – IV, 124 s.
