The Programming Control And Simulation For 6_Dof Spraying Robot Based On CATIA Platform

Aircraft spraying is an important part of aircraft manufacturing and the key link to ensure the quality of aircraft surface. It has a great relationship with the performance of the entire aircraft. At present, the spraying technology in the process of aircraft manufacturing is relatively backward in our country. The original way is also used in the most of sprays, the degree of automation is low, the efficiency is not ideal, and the quality of spraying is difficult to control. Digital spraying technology is necessary requirement for achieving aircraft digital manufacturing, and is also the inevitable choice to improve the spraying level in the process of aircraft manufacturing.This thesis chooses aircraft digital manufacturing as its background. Through analyzing the status of the spray technology, the scheme of off-line programming which is based on the CATIA platform is proposed. Combining with the needs of aircraft spraying, the spraying track and movement of spraying robots were studied. Based on CATIA, this thesis develops the module of off-line programming with the CATIA Automation technology and the CAA VC++ technology. In this thesis, the following research and exploration are studied.Firstly, the development and current status of spraying technology is deeply researched, and the key technology, off-line programming is introduced. This thesis discourses the view that digital spraying technology is the direction and inevitable choice of the plane spraying technology development. Base on that, the spraying robot off-line programming solution on CATIA is proposed. This thesis describes the purpose and significance of research.Secondly, according to the characteristic of aircraft’s inlet channel, the overall scheme of the spraying robot is designed. In the thesis, the spraying track is studied with the model of the aircraft’s inlet, the rules of generating spraying track is obtained from some calculating. By researching the description of spraying robot’s posture in the 3D space, this thesis solves the motion of the spraying robot.Base on CATIA, the development of kinematics simulation and generating trace is completed with the CAA technology. Using the achievement, the simulation and analysis of robot’s motion is achieved.Finally, a summary and prospect are given.