Structural Scheme Design And Position And Posture Errors Analysis For6-DOF Painting Robot

Painting robot is playing an increasingly important role and used more and more widelyin modern spraying industry.In this paper we have designed the main structure,studied thekinematics and the terminal position and posture error of the6-DOF painting robot accordingto the actual requirements of the project.The main completed work is as follow:(1)Compared and selected the robot,s structure program according to the painting robotworking objects,tasks,performance requirements and foreign mature robots.And thendetermined the main technical parameters.(2)Designed and analysised the transmission scheme and some key structuredetails.Analysised the working principle and structure of the robot wrist.Determined thelength of the J2and J3joint.Compared the workspace and advantage of two differentprograms of the J1joint.(3)Established the kinematics model of the6-DOF painting robot and determined theD-H parameters.Analysised the forward kinematics and solution of the inversekinematics.Solved the Jacobian matrix.And then soluted the inverse speed based on thesimplified model.(4)Established the terminal position and posture error model of the robot based on amodified kinematic model and then verified its correctness.Designed sampling functions tosample the position and posture of the robot.Writed the programs to simulate the error viaMATLB.And at last got the conclusion that errors of the angle parammeters is the main factorof the terminal errors.