Thermal spraying robot kinematics and laser pattern control

نویسندگان

  • Dermot Breen
  • Eugene Coyle
  • David M. Kennedy
چکیده

The thermal spraying surface engineering industry relies on manual spraying and standard pre-programmed robotic systems. This research presents the completed geometric forward and inverse kinematics solution for a non standard articulated robotic manipulator which includes continuous 360 axis rotation for waist, shoulder and elbow joints with a commercially available joint for tilt and pitch. The research also details the use of Polytetrafluoroethylene (PTFE) electroless nickel slip rings and brushes for providing delivery of power and data through the continuous rotation joints. The automatic analysis of distance and orientation measurement via a pattern producing laser and camera system is being researched for suitability in the thermal spraying process for automatic feedback and control of the robotic arm manipulator. The competed technical and simulation design will provide for the automatic application of advanced surface coatings to enhance wear, low friction and corrosion resistance properties to substrates via a thermal spraying process. 1 THERMAL SPRAYING SURFACE COATING

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تاریخ انتشار 2005