Design of paint repairing robot system based on point cloud

Abstract

Car Paint Repair Robot, not as same as paint robot which just need to focus on one kind car type,needs to adapt to lots kinds of vehicle curved surfaces and colour. This highly adaptive requirement makes the design of paint repair robot far more difficult in target tracking, path planning, motion space and other aspects than the painting robot in the automotive manufactory. Therefore, based on the 3D point cloud reconstruction of the vehicle, point cloud data is segmenting, and the eight neighbourhood method, the contour of the closed curved surface are extracted. Then the route path is generated on the surface by the slicing method, and the critical path of each surface is built, and the path planning of eight axis linkage is generated by ant colony algorithm. Then a eight-axis truss robot system is designed and manufactured, the generated path and trapezoidal curve acceleration value are sent to Beckhoff motion controller through ADS protocol to drive the linkages and each joint axis. The experimental results show that the system can automatically control the axis of the robot tool to align the arbitrary surface with the normal vector for different vehicles, and drive the eight axes to track the surface motion smoothly. The system design method can also be widely used in robot machining of various surfaces.