Semi-automation of a spray painting robot

Abstract: Spray painting by hand is a strenuous task for the operator and his shoulder joints. Today this is how the procedure is done at the Metso Sweden AB factory in Trelleborg. This thesis will analyze the spray painting process and investigate and implement a semi-automated robot which can be remote controlled from a safe environment as well as automated. The implementation has a focus on using vision feedback with AR-technology together with Oculus Rift touch controllers for controlling the robot. The thesis covers the entire process of investigating possibilities, design, construction and implementation of a Cartesian robot. Due to a large amount of custom-made parts with small batches the company sees no reason to implement a fully automated robot solution which is why a semi-automated solution is desirable. The vision is to be able to automate the standard products while the small batches can be painted using tele-operation from outside the spray box in a safe environment. The thesis resulted in a proof-of-concept for a semi-automated solution which worked as intended, although for a fully functional work cell, a few modifications must be done as well as implementing a GUI which was not covered in this thesis.