Hanchi, Minimum Cost Trajectory Planning for Industrial Robots, Eur. Müller, Parameter Optimization for Spray Coating, Adv. Berndt, Evaluation of Off-Angle Thermal Spray, Surf. Nylén, Models for the Simulation of Spray Deposition and Robot Motion Optimization in Thermal Spraying of Rotating Objects, Surf. Montavon, The Effect of Spray Distance and Scanning Step on the Coating Thickness Uniformity in Cold Spray Process, J. Echempati, Computer-Aided Torch Trajectory Generation for Automated Coating of Parts with Complex Surfaces, J. Montavon, Application of Robot Offline Programming in Thermal Spraying, Surf. Pawlowski, The Science and Engineering of Thermal Spray Coatings, Wiley, Chichester, 2008 Thus, it is possible optimize robot performance and to economize robot energy.

The results showed that it was possible to reasonably assign the amount of robot motion to each axis during the process, so achieving a constant nozzle speed. The energy consumptions of different nozzle mounting methods were also compared. Robot kinematic parameters were obtained from the simulation by offline programming software and analyzed by statistical methods. An optimized nozzle mounting for a type F4 nozzle was designed, based on the conventional mounting method from the point of view of robot kinematics validated on a virtual robot. In this study, the robot performance was optimized from the aspect of nozzle mounting on the robot. Thus, the kinematic optimization of all these aspects plays a key role in order to obtain an optimal coating quality. These factors also affect the mass and heat transfer as well as the coating formation.

nozzle speed, scanning step, spray angle, standoff distance). A desired coating quality depends on factors such as a balanced robot performance, a uniform scanning trajectory and stable parameters (e.g. Nowadays, the application of industrial robots in thermal spray is gaining more and more importance.

Robotstudio target external axis