NURBS function closed-loop mapping trajectory planning of serial robotic plasma cladding for complex surface coatings

In order to solve the problem of trajectory planning robotic plasma cladding for complex surface coating, concept non-uniform rational B-spline (NURBS) function open-/closed-loop mapping is proposed firstly in this work explore new approach NURBS surfaces. The carried out by a 2D-NURBS curve C(u) on 2D plane, which mapped predefined 3D-NURBS S(u,v) using form 3D named (NURBS-FM) curve. Using fixed step (FS) interpolation, equal chord length (ECL) arc (EAL) and bow height (EBH) etc., can be interpolated. FS/ECL/EAL/EBH defined as constraint. Depending where constraint applied, NURBS-FM divided into open-loop closed-loop mapping. (NURBS-FOLM) along route u ? S(u,v), while (NURBS-FCLM) …. applied NURBS-FOLM, NURBS-FCLM. NURBS-FOLM NURBS-FCLM ensure that interpolation points have ECL/EAL/EBH characteristics, respectively. When regarded trajectory, provide engineers with method trajectory. based serial cladding, high entropy alloy coating prepared Q235 substrate employed AlCoCrCuNiNb powder optimized parameters (Ar flow, ion gas current, feeding speed, feedrate) = (6L/min, 1.7L/min, 115A, 15 mm/s, 1.4 mm/s). formation spacial well without obvious defects. simulation experiment verify feasible effective. It provides technical theoretical basis coating. With increasing application parts various industries, technologies more broad prospects manufacturing product coatings remanufacturing old ones laser/arc platform.