Robotic Painter Prototype Final Report 9/14/2010 Ryan G. Rosandich, Ph.D. Department of Mechanical and Industrial Engineering University of Minnesota Duluth

The Problem Placing messages onto the roadway surface including stop-walk messages or left or right turn arrows is accomplished using stencils and rollers. Can a robotic message painter be developed whereby messages could be applied automatically from an operator position?

Design Process First student design team  Fall semester 2009  Mechanical structure design  Fabrication Second student design team  Spring semester 2010  Paint delivery system  Linear motion components  Power and air supply

Students Involved Ryan Bowlds Matt Erickson J. T. Gaige Chad Hoel Kenn Houk Nathan Kurlinski Tyler Stusynski Ben Waldera Kyle Woodley

Paint Delivery System Single paint head due to cost ($500+)  Graco AL Airless gun Electric airless pump  Graco Magnum X7

Linear Motion Components Techno-Isel Voyager Belt Slides  Servo motors  Gear boxes Galil Motion Control  Control board  Servo amp Power supply

Power and Air Supply Air Compressor Portable Generator

Finished Product

Operator Interface

Specifications Paintable area 98 in. x 47 in. (2.5 m x 1.2 m) Painting speed 12 in./sec. (300 mm/sec) Painting width 4 in. (100 mm) Paint pressure 2500 psi (17.5 MPa) Air pressure psi ( MPa) Max power demand 3000 W Single operator

What We Can Paint Letters: A-Z Words: STOP SLOW TURN XING Arrows: straight, right, left, combos Symbols: R X R, handicap, bike

Some Results

What is left? Comprehensive final report Future developments Future applications

Budget Status Paint delivery above budget Mechanical structure below budget Electrical and controls on budget Salary below budget Total project below budget

Expected Benefits Improved Safety  Fewer workers, less time exposed  Operated from a distance Improved Productivity  Single operator, faster painting Improved Flexibility  Not limited to standard stencils

Questions or Comments?