The Research Of The Key Technology On The Hands On Teaching Type Glazing Robot

According to the scene of the ceramic glazing work environment, consideringsanitary ceramic products of appearance features and the glazing process, the project putsforward a kind of five degrees of freedom hands-on teaching type glaze for joints of therobot.Based on the topological structure characteristics of the robot, a kind of glazingrobot structure witch can satisfy the hands on teaching type and it is Synthesized. A kindof forward and reverse the two transmission chains of joint mechanism are presented inthis paper, so that the robot has two kinds of state include the work and demonstration.According to the D-H method robot joints body-fitted coordinate system wasestablished and the parameter and variable of the robot’s connecting rod are defined.The relationship of robot end and the base coordinate are analysed. The robot kinematicsequation is deduced and verified.The scales integration is analysed for the glazing robot using the analytical method.The robot’s structure parameters are optimized through the Matlab softwareprogramming with its Optimization Tool optimal toolbox. The optimized connecting rodstructure size is draw.The glazing robots workspace is analyzed using the Monte Carlo method. Theglazing robot working space is analyzed through the Matlab programming. Therationality of the structure dimension is verified.The new joint robot of the subject research expands the joint robot model andsimplifies the demonstration teaching process. Especially, it is suitable for the automaticglazing and spraying operation which path is very complicated. And it has wideapplication.