Karan Bansal, Yayun Du, Eric Palan, Mohiuddin Quadir, Mohammad Khalid Jawed
{"title":"机器人绘画:模仿人类涂抹器","authors":"Karan Bansal, Yayun Du, Eric Palan, Mohiuddin Quadir, Mohammad Khalid Jawed","doi":"10.1007/s11998-022-00750-7","DOIUrl":null,"url":null,"abstract":"<div><p>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.\n</p></div>","PeriodicalId":48804,"journal":{"name":"Journal of Coatings Technology and Research","volume":"20 4","pages":"1369 - 1381"},"PeriodicalIF":2.3000,"publicationDate":"2023-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s11998-022-00750-7.pdf","citationCount":"1","resultStr":"{\"title\":\"Robotic painting: mimicking human applicators\",\"authors\":\"Karan Bansal, Yayun Du, Eric Palan, Mohiuddin Quadir, Mohammad Khalid Jawed\",\"doi\":\"10.1007/s11998-022-00750-7\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>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.\\n</p></div>\",\"PeriodicalId\":48804,\"journal\":{\"name\":\"Journal of Coatings Technology and Research\",\"volume\":\"20 4\",\"pages\":\"1369 - 1381\"},\"PeriodicalIF\":2.3000,\"publicationDate\":\"2023-03-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://link.springer.com/content/pdf/10.1007/s11998-022-00750-7.pdf\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Coatings Technology and Research\",\"FirstCategoryId\":\"88\",\"ListUrlMain\":\"https://link.springer.com/article/10.1007/s11998-022-00750-7\",\"RegionNum\":4,\"RegionCategory\":\"材料科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"Chemistry\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Coatings Technology and Research","FirstCategoryId":"88","ListUrlMain":"https://link.springer.com/article/10.1007/s11998-022-00750-7","RegionNum":4,"RegionCategory":"材料科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"Chemistry","Score":null,"Total":0}
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.
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.