RoboPainter -- a conceptual towards robotized interior finishes

TL;DR

This paper introduces RoboPainter, a robot designed for interior wall painting and decoration, featuring a novel 8DOF structure that improves efficiency and control for automated painting tasks.

Contribution

It provides a detailed CAD model and dynamic parameters for a new wall painting robot with enhanced capabilities and performance compared to existing solutions.

Findings

Achieves higher painting rate than existing robots

Features a lightweight design for better mobility

Provides detailed dynamic model for control improvements

Abstract

High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees of freedom (DOF) mobile robot structure consists of a 6DOF spray painting arm mounted on a 2DOF differentially driven mobile base. The design presented endows several achievements in terms of total robot mass and painting rate as compared to existing literature. Detailed dynamic model parameters are presented to allow for further enhancement in terms of robot motion control.