THICKNESS SIMULATION WITH KINEMATIC CONSTRAINTS FOR ROBOTIC FIREPROOFING SPRAY

Abstract: Achieving precise thickness is essential for fireproofing performance. Insufficient thickness fails to secure the required fire resistance, whereas excessive thickness causes material waste and rework. This study proposes a simulation framework that combines a Gaussian accumulation model with a kinematic nozzle motion model. As a result of tests on a fixed raster path, kinematic constraints suppressed excess accumulation, increasing the within range area from 87.55% to 91.16% and reducing the over thickness area from 6.83% to 0%. These results show that spray quality should be evaluated using CV with under/over coverage, within range area to help ensure the required thickness.