机器人绘画:模仿人类涂抹器

IF 2.3 4区 材料科学 Q2 Chemistry
Karan Bansal, Yayun Du, Eric Palan, Mohiuddin Quadir, Mohammad Khalid Jawed
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引用次数: 1

摘要

机器人辅助绘画广泛应用于喷涂和浸渍应用。然而,使用机器人涂层基材使用滚轮涂抹器还没有系统的研究。我们首次展示了一种通用的机械臂支撑方法,使用具有恒定力的滚轮在精确的关节步骤上喷涂工程基材,同时保持顺应性和安全性。我们优化了机器人的设计,使其能够使用与人类涂布器性能相当的滚筒涂覆基材。为了实现这一目标,我们优化了机器人设计的力、调整频率和位置控制参数。自动涂层的框架可在https://github.com/duyayun/Vision-and-force-control-automonous-painting-with-rollers上获得;用户只需要提供要涂覆的表面的边界坐标。我们发现机器人和人类绘制的面板在干膜厚度,涂层硬度,柔韧性,抗冲击性和微观性能方面表现出相似的趋势。涂覆板的色彩分析显示,配色方案无显著差异,可用于建筑涂料。总的来说,这项工作显示了使用滚轮涂抹器的机器人辅助涂层策略的潜力。这可能是危险区域涂料,高海拔建筑涂料,细菌消毒和加速家庭应用的可行选择。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Robotic painting: mimicking human applicators

Robotically assisted painting is widely used for spray and dip applications. However, use of robots for coating substrates using a roller applicator has not been systematically investigated. We showed for the first time, a generic robot arm-supported approach to painting engineering substrates using a roller with a constant force at an accurate joint step, while retaining compliance and thus safety. We optimized the robot design such that it is able to coat the substrate using a roller with a performance equivalent to that of a human applicator. To achieve this, we optimized the force, frequency of adjustment, and position control parameters of robotic design. A framework for autonomous coating is available at https://github.com/duyayun/Vision-and-force-control-automonous-painting-with-rollers; users are only required to provide the boundary coordinates of surfaces to be coated. We found that robotically- and human-painted panels showed similar trends in dry film thickness, coating hardness, flexibility, impact resistance, and microscopic properties. Color profile analysis of the coated panels showed non-significant difference in color scheme and is acceptable for architectural paints. Overall, this work shows the potential of robot-assisted coating strategy using roller applicator. This could be a viable option for hazardous area coating, high-altitude architectural paints, germs sanitization, and accelerated household applications.

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来源期刊
Journal of Coatings Technology and Research
Journal of Coatings Technology and Research CHEMISTRY, APPLIED-MATERIALS SCIENCE, COATINGS & FILMS
CiteScore
4.40
自引率
8.70%
发文量
0
期刊介绍: Journal of Coatings Technology and Research (JCTR) is a forum for the exchange of research, experience, knowledge and ideas among those with a professional interest in the science, technology and manufacture of functional, protective and decorative coatings including paints, inks and related coatings and their raw materials, and similar topics.
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