Economic Painting Robot Trajectory Planning And Joint Control Study

The environment of Painting homework is very poor and the paint is harmful to human health. Therefore, in order to protect the health of painting workers, to improve the spray quality and to improve the labor productivity and so on, we should realize automation painting. At present, foreign painting robot is very powerful, but the cost is very expensive, so the use of these Roberts in our country is only in a few large-scale enterprises, or in some special products area which requires high quality spray paint and have many varieties of products. In many small and medium-sized companies of our country which produce large production of furniture, household appliances, small machinery equipments and other products, most of the monotonous, repetitive work of spray-painted is artificial. The poor environmental conditions caused serious physical harm to workers, so it is difficult to improve the quality of the spray paint. The reason is that in our country there isn't any financial and practical painting robot. Economic-type spray painting robot is born based on this. In the article I have designed a new type of economic-type spray painting robot which covered the following aspects:Summarizing the development and research direction of domestic and international painting robot and analyzing the necessity of the development of economic painting robot; expatiated on the characteristics of robot design, from the agency point of view, researching the arm and wrist of the robot configuration, using a bad wrist velocity structure to establish the design of economic-type spray paint robot ontology structure and characteristics of its structure analysis, using the DH expression to analysis kinematics of robot and to set up robot-link transformation matrix, to derivation and validation robot inverse kinematics solution also; combining machine mechanical structure, analyzing the robot joint range of motion to study and give the robot work space; Introducing the joint space of robot trajectory planning and Cartesian coordinate space trajectory planning principles and several joint space trajectory interpolation methods.Focuses on the problem of Cartesian Coordinate space for the path of the direct trajectory planning. Using express direction of the path curve method which from Frenet-Serret for about three Vector Spaces, and to explore a Cartesian coordinate space of directly continuous trajectory planning methods, and several common trajectory detailed robot trajectory planning; taking into consideration the function of painting robot and its economy, the control system uses a master-slave distributed control structure, and focus on a single robot joint servo control system, to build a single robot joint servo drive system experiment platform, and to analysis the characteristics of servo system.In this thesis, I designed the body structure of the economic painting robot, analyzed the robot kinematics, carried out trajectory planning and had studied the single-joint robot servo control system and experimental research. The outcome of this thesis has significance application and referring value to the research of economic-type painting robot and to the development and use of the robot.