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Design and modeling of automatic spray painting robot using

Ansys.
Abstract: Wall painting is a repetitive, exhausting and hazardous process which makes it an ideal
case for automation. Painting had been automated in automotive industry but not yet for the
construction industry. There is a strong need for a mobile robot that can move to paint interior walls
of residential buildings. In this paper, the conceptual design of an autonomous wall painting robot is
described consisting of an arm that scans the walls vertically and is fitted on a robot base to give the
lateral feed motion to cover the painting area. The design objective is to satisfy the criteria of
simplicity, low weight, low cost and fast painting time

Introduction: Building and construction is one of the major industries around the world.
In this fast moving life construction industry is also growing rapidly. But the labors in the
construction industry are not sufficient. This insufficient labors in the construction industry is
because of the difficulty in the work. In construction industry, during the work in tall buildings
or in the sites where there is more risky situation like interior area in the city. There are
some other reasons for the insufficient labor which may be because of the improvement the
education level which cause the people to think that these types of work is not as
prestigious as the other jobs. The construction industry is labor-intensive and conducted in
dangerous situations; therefore the importance of construction robotics has been realized
and is grown rapidly. Applications and activities of robotics and automation in this
construction industry started in the early 90‟s aiming to optimize equipment operations,
improve safety, enhance perception of workspace and furthermore, ensure quality
environment for building occupant. After this, the advances in the robotics and automation
in the construction industry has grown rapidly. Despite the advances in the robotics and its
wide spreading applications, painting is also considered to be the difficult process as it also
has to paint the whole building. To make this work easier and safer and also to reduce the
number of labors automation in painting was introduced. The automation for painting the
exterior wall in buildings has been proposed. Above all these the interior wall painting has
shared little in research activities. The painting chemicals can cause hazards to the painters
such as eye and respiratory system problems. Also the nature of painting procedure that
requires repeated work and hand rising makes it boring, time and effort consuming. These
factors motivate the development of an automated robotic painting system. This project
aims to develop the interior wall painting robot. This automatic wall painting robot is not
designed using complicated components. This robot is simple and portable. The robot is
designed using few steels, conveyor shaft, spray gun and a controller unit to control the
entire operation of the robot. This robot is compact because of high speed and pressure
capabilities they have. They also have a very small weight to power output ratio and
predictable performance i.e.., losses are minimum due to less number of moving parts and
so gives expected performance. Due to elegant and simple control systems it can control
noise vibration and does silent operation and no vibration is produced. It has longer life,
flexibility and it is efficient and dependable, and the installation is simple and the
maintenance is also easy. Some of the conditions that have to be considered while using
this robot is that the system is operates in pneumatics, so it needs air tank or compressor
and the electric shock is always there, which makes the machines ugly and dust and dirt are
adhering to them. The life of the parts like seals, packing and gaskets etc., are very short
but, they are essential to prevent leakage so that the system becomes costlier.

Design: The painting robot consists of base plate, base wheel, spray gun , track system.

The basic structure of automatic wall painting robot is shown in in figure 1.

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Fig1: Basic structure of Automatic wall painting robot

The design consist of 1. Base plate 2. Base wheel 3. Spray gun and track system.
The Base plate Design:

Fig 2: Base plate

Fig 3: The Base plate after deformation.


Fig 4: Base wheel design

Fig 5 : Movable plate.


Here in this movable plate, the stress and strain and deformation have been calculated.

Fig 6: Movable plate equivalent strain


Fig 7. View of spray gun in automatic wall painting robot
Results and Discussion

Equivalent stress Equivalent strain Total Deformation


Max Min Max Min Max Min
Base plate 1.9257e8 1761.1 0.01158 0
Movable 4.4516e6 322.4 2.2303e-5 2.877e-9 0.0002336 0
plate
Track 44838 2.3805e-10 2.2772e-7 2.5556e-21 5.3909e-9 0
Base wheel 1.5316e-7 4.1798e-12
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