The Design And Analysis Of One Huge Work Space Spray Painting Robot Used For Special Workpiece

This issue is based on a large-scale special workpiece’s surface heat shield spraying operation. According to the task requirements,this paper raised a large workspace spraying robot configuration scheme,and finished its kinematics,workspace and singularity analysis,After that,This paper also finished its trajectory planning and dynamic simulation.The findings of this paper provide a theoretical guidance for the development of large-scale special workpiece spraying robot. The research has important theoretical significance and practical value.The main contents of the paper are as follows:First,according to the task,the series robot configuration design is carried out by using graphics mathods, Several different plans of large workpiece surface heat-resistant layer spray robot are proposed,After taken full considerations of the task requirements and comparisons of the different plans, one particular spraying robot configuration plan is selected.then completed the size design of the chosen robot.Second,the Kinematics,Workspace,Sigularity of the robot are analyzed.The D-H method is used to solve the kinematics,the Monte-Cralo method and MATLAB programming are used to draw the work space in views of2-dimentions and3-dimentions,the Screw Theroy is used to analyze sigularity;based on those analyze conclusions,the robot’s end operator’s range of motion in three dimensional space is determined.Third,according to the features of the workpiece and the robot’s capability of obstacle-aviodance,the No-conference trajectory of continous path is calculated,the interpolations and inverse kinematics calculations which satisfy the specific accuracy requirements are completed,the trajectory planning of each joint in joint space is done.Fourth,on the basis of three-dimetional modeling of the spraying robot,the kinematics simulation is completed by using the conclusions of tarjectory planning,the correctness of theoretical calculations,such as Kinematics solutions and Trajectory planning,are validated.The dynamic simulation of spraying robot is finished,the conclusions of dynamic simulation validated in large work space conditions,the dynamic performance of large-size robotic arm meets the requirements.In this paper, the theoretical studies,simulation analysis conclusions and experimental results of large-scale special workpiece’s surface spraying robot showed that the design of spraying robot satified the task requirements.The paper also laid a theoretical foundation for the spraying robot which is developed to meet the actual requirements of the productions.