DEVELOPMENT OF AN AUTOMATIC FOUR-COLOR SPRAYING DEVICE CARRIED BY A ROBOT ARM

摘要

Automation of building processes is the right mean to improve the average productivity of the construction industry, moreover in case of big and very complex projects. In addition the manufacturing of uniform high quality products can be pursued. This paper is concerned on an automatic system for interior wall painting, which is devoted not only to set an automatic spraying device on one six degree of freedom robot called "Pollock #1", but also to reproduce high quality artworks, using the same principles of four-color cartridges for printing machines. That end-tool was shown to be able to reproduce every color required by designers and, as a consequence, also drawings containing different chromatic scales, through controlling the movement of the arm with respect to the changeable colour mix sprayed by the end tool. Finally, an accurate and efficient automated methodology to reproduce colored drawings from their graphic digital format to their final application on building walls is presented.