![]() It also minimizes the influence of robot performance to achieve a more constant relative scanning speed which is represented as a key parameter in thermal spraying. ![]() This approach allows to optimize the robot trajectory generation in a limited working envelop. The results showed that the motion behavior of each axis of robot permits to identify the motion problems in the trajectory. ![]() In this study, an investigation on the robot kinematics was proposed to find the rules of motion in a common case. However, in some cases, the robots cannot guarantee the process parameters defined by the robot movement, such as the scanning trajectory, spray angle, relative speed between the torch and the substrate, etc., which have distinct influences on heat and mass transfer during the generation of any thermally sprayed coatings. Due to their characteristics of high-accuracy and programmable flexibility, spraying on complex geometrical workpieces can be realized in the equipped spray room. Industrial robots are widely used in the field of thermal spray nowadays.
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