Design Of Explosion-proof System And Dynamics Analysis Of Painting Robot

As one of the important industrial robots, which is both of the key parts of the advanced manufacturing equipments, and the foundation of automatic industrial maufacturing line, the painting robot widely used in various industries. And nowadays, independent development for painting robot with foreign advanced level is the urgent need to improve the international competitiveness of modern manufacturing industry, since almost all spaying robots used in our country are developed by foreigners at present.In this work, the design of explosion-proof system and dynamic analysis of painting robot were studied. And on this basis, a new positive pressure explosion-proof detection device and explosion-proof air pressure system based on positive pressure ventilation principle was designed, and in addition, the robotic dynamic model was established by newton-euler method. The mainly works in this paper are as follows:According to the kinematics model of painting robot based on robotics theory was established,And then the calculations for solution were executed on robot end-pose to simulation robot continuous movement efficiently. Finally, painting robot workspace and dexterous workspace were simulated by the monte carlo method, and thus completed the painting robot flexibility and kinematics analysis.The characteristics and applications of various explosion-proof forms were analyzed, and ultimately choosed the positive pressure explosion-proof form for the painting robot. The positive pressure ventilation type air pressure system was adopted in this paper, by comprehensive comparative analysis the advantages and disadvantages between positive pressure compensation type air pressure system and positive pressure ventilation type air pressure system.This part introduces the flow and pressure test device design process of positive pressure explosion-proof device, and puts forward a special gas path wiring system to solve the gas path problem, which may exist in joint seal cavity of painting robot. The robot dynamic equations was builded by newton euler method on the basis of dynamics analysis of painting robot. Which realizes the calculation of the inertia load, the joint velocity, the joint acceleration and driving moment in robot dynamic process, and provides analysis and evaluation reasons for motor selection. The reaearch of this paper lays a foundation for the design of explosion-proof system and dynamics analysis of painting robot, and supplies referenced methods and the experience for the interrelated contents.