The Structure Design And Control Of 6-DOF Painting Robot

Recently, the rapid development of the car manufacturing in China has promoted the requirement of painting robots. The structure design and control of painting robots are the problems to be solved urgently. This dissertation studied the structure and control system of the 6 dof painting robot. The following works and achievements have been completed:1. The wrist's coordinate system was built up by D-H method. On the basis of kinematics analysis of the wrist, the wrist's workspace was drawn by using Maple software; According to the transmission system of the wrist, this paper achieved the relationship of the input angle and the output angle, and kinematics simulation of the wrist was completed in this dissertation. Thus it was verified that the wrist's structure is feasible.2. The main structural parameters of the robot were designed by a simple and universal method which is widely used in engineering design. The whole workspace of the 6 dof painting robot was drawn on the basis of kinematics analysis of this robot by using Matlab software. It was proved that the structural parameters are appropriate.3. According to the requirements of the layout of painting robots in car painting line and the single painting robot, the control system of the robot was built up. It is composed of the motion controller MP2300 and fieldbus. The hardwares of the control system were chosen and configured. At the same time, I/O connectors were designed.The research of this paper lays a foundation for the structure design and control of the painting robot, and supplies referenced methods and experience for the interrelated problems.