Automatic high rise wall painting robot: design and integration of spray painting system

• Main Author: Li Jing, Soh
• Other Authors: Chen I-Ming
• Format: Final Year Project
• Language: English
• Published: 2016
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/68788
• Institution: Nanyang Technological University

The primary aim of the project is to research and select existing off-the-shelf spray painting device that is compatible for integration and building of the automatic high rise wall painting robot. Robot application in building and construction sector has been realized since early 90’s and increasingly in demand. Among the wide spreading application of automatic robot system, wall spray painting is one of the potential tasks to be completed by robot system as the nature of spray painting operation itself, especially in confined space, is harmful to human due to emission of toxic chemicals and potential risk on high rise scaffolding. Proper integration between spray painting and automatic robot will be beneficial to the whole construction sector in order to minimize the human exposure in spray painting task for worker health and safety as well as to enhance the painting productivity. These factors motivate the development of automatic wall spray painting robot. The robot design is grouped into 3 modules, namely Mobile Robot and its Navigation, End-Effector Modules and Spray Painting Device. 3 modules are closely linked up with each other in which spray painting device is the core element of the robot, supported by another two modules to achieve the painting task. This report would focus on explanation of the selection rationale of each spray painting device sub-components. It serves as an important documentation for the further development of the automatic high rise wall painting robot, including optimal pressure setting, planning of trajectory and defining of painting quality. By proper integration of spray painting technology onto automatic robot, painting efficiency and quality could be enhanced.