| As the rapid development of manufacturing industry, especially the automobile field, theneed for painting robots is more and more urgent. Developing the painting robot withself-intellectual property is required urgently by our industry. The analysis and simulation ofrobot kinematic and dynamic is a basic work during the design and optimization of robots.The hollow wrist of painting robot leads the offset of last3joints, and there is no closed-formsolution for the inverse kinematic. Building effective model for the inverse kinematic solutionis one of the most basic problems in the development of painting robots.To aim at the developed painting robot, based on D-H modeling method of the linkcoordinate system, the kinematic model of the painting robot is derived. Based onMonte-Carlo simulation method, the workspace of robot is analyzed. Based on GB standard,the workspace is delivered normatively. The Jacobi matrix and its determinant are derived.The dexterity index of robot is investigated, and the concept of second condition number isproposed, which can analyze the singularity of robot. Based on the Newton-Euler method, thedynamic model of robot is derived. The trajectory planning in Cartesian space is achieved,including line plan and arc plan.The solution for robot inverse kinematic is mainly discussed, including iterative methodand elimination method. By the special treatment in the singular location and adjustment ofdamped factor, the damped least-square method is improved; Based on the eliminationmethod proposed by Manocha, by matrix splitting and pre-processing of symbol, theperformance of elimination method is improved, and the real-time capability is realized.At last, the knowledge of kinematic, dynamic and trajectory plan is integrated. Based onthe basic idea and technique, and the architecture of existing simulation software, a robot’ssimulation software is developed by C++and MFC, providing a simulation platform fordesign and analysis of painting robots. |
PDF Full Text Request