In this paper, a new practical electrostatic rotating bell (ESRB) cumulative rate model of painting is derived, and an experimental study on painting is carried out. First, the experimental method is used to obtain the radial thickness profile function of the spatial paint distribution of static spray. Then, a spatial trajectory-planning scheme for a spray-painting robot based on a rectangular model is presented. This method designs the spatial path of the spray-painting robot by using the cuboid model method after the optimal value is taken as the width d of the overlapping area of the two spray-painting strokes in the plane. The experimental results illustrate that the paint thickness basically meets the requirements, and the experimental results verify the effectiveness of the trajectory optimization method.

In this research, a novel method of space spraying trajectory optimization is proposed for 3D entity spraying. According to the particularity of the three-dimensional entity, the finite range model is set up, and the 3D entity is patched by the surface modeling method based on FPAG (flat patch adjacency graph). After planning the spray path on each patch, the variance of the paint thickness of the discrete point and the ideal paint thickness is taken as the objective function and the trajectory on each patch is optimized. The improved GA (genetic algorithm), ACO (ant colony optimization), and PSO (particle swarm optimization) are used to solve the TTOI (tool trajectory optimal integration) problem. The practicability of the three algorithms is verified by simulation experiments. Finally, the trajectory optimization algorithm of the 3D entity spraying robot can improve the spraying efficiency.