Construction Design And Simulation Of A Kind Of Spraying Robot

In the past years, the robot technology has been developed greatly and used in many different fields. There is a large gap between our country and the developed countries in research and application of the robot technology so that there will be a great value to study , design and applied different kinds of robots, especially industrial robots,such as welding robot, painting robot and assembly robot etc.Based on larger number of relative literatures and combined with the need of project, the author have designed a kind of spraying robot . At same time, The kinematics analysis was conducted, coordinate trans -formation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced, and have analysed work spaces. In this paper, we use the design method of virtual prototype. Through the design software of Pro/Engineer ,we set up the solid model of the robot, and carry on accurate establishment and assembly to the main part of the robot. In order to analyse kinematics and dynamics of the robot, utilize Mechanism/Pro to guide the virtual prototype of the robot into ADAMS software, and set up the simulation model of the movement so that we may do experiments to the robot, have received the simulation curve, and get some experiment results. We also can compare the experiment data with the theoretic stable region and confirm that the robot has good stability, and provide theoretic and data information for further work .