In most cases, thermal spraying is carried out in spray booths either through a manual (handheld) or automated (robotic, x-y manipulators, etc.) method. There are several key reasons for using automated systems. These include: health and safety; quality and reproducibility; and productivity and economics.
For obvious reasons, the use of automated methods can notably reduce risks to workers by limiting exposures[i],[ii],[iii],[iv] to:
- · Gases and vapors;
- · Dust/powder;
- · Noise;
- · Radiation;
- · Heat;
- · Electric Shock.
Among the numerous dangers associated with thermal spray application, respiratory issues relating to exposure to gases and vapors, dust particles, and toxic metals are one of the most significant concernsii. By contrast, the principal danger associated with robots is that a robot does not have any detection capability and a collision with a worker in its pre-defined trajectory can occurii.
Automation can also help enhance quality and reproducibility through its ability to accurately control several aspects of the gun/torch positioning and movement, i.e., working distance, translational speed, pitch/increment between passes, and spray anglei,iv,[v],[vi]. This is most important for complex-shaped components that require high thermal and mass transfer tolerancesiv,v,vi,[vii],[viii]. McDonald et al.[ix] provide helpful general information on robot programming for thermal spraying.

Example of F.W. Gartner automated thermal spray application.
In addition to enhancing coating quality and reproducibility, incorporating automated thermal spraying can also increase productivity and makes good economic sense, especially in high-volume productioni,iv,[x]. Kutay[xi] at Carnegie Mellon University provides some insight into the economic impact of automation technology.
Even with the advantages of incorporating automation into a thermal spray process, numerous applications require manual spraying with protective personal gear, i.e., bridges, boilers, artwork, architecture, etc. Also, an automated system can require considerable preplanning and programming which can take time and affect profitability. Hence, it is not always feasible to remove the human factor from all applications.

Example of F.W. Gartner manual thermal spray application.
REFERENCES
[i] D.E. Crawmer, Process Control Equipment, Handbook of Thermal Spray Technology, J.R. Davis-editor, ASM International and the Thermal Spray Society, 2004, pp. 85-98
[ii] H. Heriaud-Kraemer, G. Montavon, S. Hertert, H. Robin, C. Coddet, Harmful Risks for Workers in Thermal Spraying: A Review Completed by a Survey in a French Company, Journal of Thermal Spray Technology Volume 12(4) December 2003, pp. 542-554
[iii] C.P. Howes, Thermal spray safety and OSHA compliance, THEFABRICATOR.COM, July 2001, http://www.irmaassociates.com/articles/Thermal_Spray_Safety_and_OSHA_Compliance.pdf
[iv] Z. He, B. Lu, J. Hong, Y. Wang, Y. Tang, A novel arc-spraying robot for rapid tooling, Int J Adv Manuf Technol (2007) 31: 1012-1020
[v] A. Kutay, L. Weiss, Economic Impact of Automation: The Case of Robotic Thermal Spraying, The Robotics Institute – Carnegie Mellon University, March 1990, http://www.cs.cmu.edu/~lew/PUBLICATION%20PDFs/TECH%20REPORTS/CMU-RI-TR-90-07.pdf
[vi] A. Frutos, Numerical analysis of the temperature distribution and Offline programming of industrial robot for thermal spraying, Final Thesis, University of Stuttgart, January 2009
[vii] P.D.A. Jones, S.R. Duncan, R. Rayment, P.S. Grant, Optimal Robot Path for Minimizing Thermal Variations in a Spray Deposition Process, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 15, NO. 1, JANUARY 2007, pp. 1-11
[viii] W. Xia, H. Zhang, G.-L. Wang, Y. Yang, G. Han, H. Zou, Integrated Robotic Plasma Spraying System for Advanced Materials Processing, PIERS Online, Vol. 4, No. 8, 2008, pp. 876-880
[ix] A. McDonald, K. Schoof, B. Harvey, Thermal Spraying Training Module: For As-sprayed (un-polished) Coatings, http://www.ualberta.ca/~andre2/files/McDonald_Training%20Module.pdf
[x] D. Breen, Thermal Robotic Arm Controlled Spraying via Robotic Arm and Vision System, Doctoral Thesis, Dublin Institute of Technology, Ireland, January 2010
[xi] A. Kutay, The Economic Impact of Automation Technology, The Robotics Institute – Carnegie Mellon University, July 1989, http://www.ri.cmu.edu/pub_files/pub3/kutay_aydan_1989_1/kutay_aydan_1989_1.pdf