Key Parameters Design And Analysis For6-DOF Painting Robot

The rapid development of manufacturing industry robot needs painting robots morestrongly, proprietary domestic painting robot need to be developed urgently. Robot is acomplex mechanical system, and international mainstream painting robott require largeworkspace, high flexibility, high motion accuracy, so all the factors above should be takeninto account in the designing process, and so do the kinematics and dynamics performance,Therefore, it’s a challeng to determine the basic geometry and performance parameters of therobot. The main problems are: the hollow structure of the wrist joint need to be reasonabledesigned; the inverse kinematics has no closed solution and it is always hard to be solved;robot dynamics performance and its influence to trajectory of the operating space are hard tobe solved.Based on the painting process analysis, according to the robot workspace requirementsand performance requirements, by theoretical calculations and numerical simulations ageneral method to determine the basic parameters of six degrees of freedom industrial robot ispresented. The capabilities and performance parameters of the robot’s are found out.In the key components (hollow wrist) designing process, through analysis and research ofthe structure of existing robot wrist, the method how to find the important parameters andcritical dimensions is obtained, finally the structure is designed and optimized. The model of“drive-joint space” kinematic is derived. By researching the method of Roth Manocha’s, thekey issues (convergence, timeliness) in calculating inverse are resolved, and inverse algorithmis programed.Based on proper simplified model and Newton-Euler recursive method, the closurerelation between the robot motion and force is obtained. And it is used it to analysis andnumerical calculation of robot dynamics system. Finally, based on the calculated results, themotor, reducer main parameters are checked.The test results of the painting robot which has been assembled shows that, performanceindicators meet the requirement which proves the correctness of the mothed of designing andanalysis. The mothed of this paper could provide a theoretical basis for the robot designing.