多角度自适应喷涂机器人设计与实现

Design and Implementation of a Multi-Angle Adaptive Spray Painting Robot

摘要: 为解决传统人工喷涂效率低、均匀性差、涂料损耗大及VOCs危害等问题，本文设计一种多角度自适应喷涂机器人。该机器人以六自由度机械臂为核心执行机构，基于DH参数法完成运动学建模与轨迹规划，融合3D点云处理、法向等距轨迹生成及曲率–距离自适应参数决策模型，并采用模块化履带底盘，可实现复杂曲面与异形工件的自动化、高精度喷涂作业。实验结果表明：机器人轨迹跟踪误差不超过±1.5 mm，平面喷涂均匀性不低于85%，涂料损耗与人工成本显著降低。该系统可广泛应用于工业制造、建筑工程、定制化产品表面处理等场景，为智能喷涂装备的研发与工程化应用提供技术支撑。

Abstract: To address challenges in traditional manual spraying such as low operational efficiency, poor coating uniformity, significant paint waste, and health risks from volatile organic compounds (VOCs) exposure, this study presents a multi-angle adaptive spraying robot. The system employs a six-degree-of-freedom robotic arm as its core actuator, utilizes the DH parameter method for kinematic modeling and trajectory planning, integrates 3D point cloud processing, normal equidistant trajectory generation and curvature-distance dual-input adaptive parameter decision model, and modular tracked chassis architecture to achieve automated, high-precision spraying on complex curved surfaces and irregular workpieces. Experimental results demonstrate that the robot’s trajectory tracking error remains within ±1.5 mm, with planar coating uniformity exceeding 85%, while paint waste and labor costs are significantly reduced. This system demonstrates broad applicability in industrial manufacturing, construction engineering, and customized product surface treatment scenarios, providing technical support for intelligent spraying equipment development and engineering applications.