The Structure Design And Analysis Of An S Style Pipe Painting Robot

In order to fulfill the special location's painting of an S style pipe, a pipe painting robot is designed. This subject has very important meaning for this special need of the pipe painting, also for improving the key machine and the construction quality. At the same time, this subject can solve the similar problem of other pipes. It can give a huge effect including improving the similar pipe's productivity and protecting the worker's safety.This paper mainly do some research aiming at the pipe robot's structure and something related, including these as followed:1. The meaning and purpose of researching the pipe painting robot is discussed. It has a review of status quo of research at home and abroad for the pipe robot. Then, some analysis about the robot related knowledge is described. After that, this paper's content has been obtained, including the robot's structure design, the finite element analysis, kinematics simulation and so on.2. The mainly content of this paper is the robot's structure design. The detailed program of the structure design is presented aiming at the special pipe and the special painting need. Then the servo motor, the reducer, the guider and something related are all calculated. After that, the force of the every DOF is obtained using the Pro/E software which can provide a preparation for the next research of statics check.3. The theory of the finite element analysis (FEA) is introduced. Using interface between the ANSYS and Pro/E and inputting the robot's key part to make the statics check. Then the most stress and strain are obtained and compared with the allowable value. Basing on this, the structure design optimization is carried out.4. The robot kinematic is simulated using the Mechanism function of the Pro/E software. First, the robot structure is simplified. Then basing on the rules, the robot arm is assembled and the data getting from the kinematics calculation is inputting. It can check whether the arm can collapse with the pipe and provide a reference for the robot path optimization.Last, the conclusion of this paper is obtained. The insufficient of this paper and the prospect of this subject are all presented.