Automatic spray paint gun trajectory generation is highly desirable for today's manufacturing applications. A CAD-guided paint gun trajectory generation system has been developed. Based on the CAD information of a part to be painted and a paint gun model, a paint gun trajectory can be generated that guarantees the coverage, as well as the uniformity of paint. An overall framework is proposed to deal with the paint coverage of compound surfaces. Furthermore, a new strategy is developed to achieve paint uniformity on any free-form surfaces while other existing approaches can only deal with uniformity problem on planar surfaces. A paint thickness verification method is also provided in this system. The results of experiments and simulations have shown that the trajectory generation system achieves satisfactory performance.
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