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Demonstrates enhanced spraying quality in large ship exterior panels, suggesting improved application performance.
In response to the current situation where the spraying quality and efficiency of large ship exterior panels cannot meet the high performance and appearance quality requirements of the hull, this paper proposes a new multi-objective optimization spraying trajectory method based on the whale algorithm on the basis of the 3-PRS parallel spraying robot. Firstly, starting from the paint film thickness distribution model of the spraying robot, the paint film thickness distribution models of the spray gun in static spraying, dynamic spraying, and overlapping spraying areas are analyzed. Based on this, a mathematical correlation between paint film thickness and spraying trajectory is established, and a spraying trajectory optimization model is constructed with spraying efficiency and quality as dual optimization objectives. The whale algorithm is used to solve the above optimization model, optimize the parameters of the spraying trajectory, and verify the feasibility and practical guidance of the proposed trajectory optimization method in practical applications through simulation results.
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Wang et al. (2026) studied this question.
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