The Design Of5-DOF Spraying Robot

The painting process is a very important aspect of the industrial production. With therapid development of the domestic level of industrialization, the demand for automatedpainting equipment is growing. Spraying robot is the response to this demand. This thesisintroduces a kind of five DOF spraying robot, and the following aspects are researched.According to the workspace of the design requirements, the spraying robot design waschanged to a specific trajectory plane linkage design. The establishing of a link modelwithout offset greatly reduced the design difficulties. Based on the length of the links solvingby Parameter Method, the relationship of the link lengths and the link twists was analyzedand the link offset model was established. Ultimately based on the actual design parameters,the principle diagram of five DOF spraying robot was determined.According to the mechanism principle, the3D model of the spraying robot was designedand the key parts were analyzed for stress in order to optimize their structure. Also a gapregulating mechanism was adopted to improve the precision of gear transmission. Adifferential mechanism was designed for the wrist, making the structure much morereasonable and compact. Then the centroid of the3D model was analyzed, showing theacceleration greatly changing area during the course of the campaign, providing effectivereference for motion control.On the establishment of five DOF painting robot in Cartesian space coordinate system,robot motion equation is established using the D-H method, according to the link parametersand variables of the joints. Further, the inverse kinematics solution was analyzed, solvingeach joint variables based on the robot position and orientation parameters by theanti-conversion law. Then, in order to analyze the robot kinematics much better, the robotJacobian matrix was solved by differential transform method. A Binocular measurement method was designed for the robot repeat positioningaccuracy. The result of the experiment shows the spraying robot designed meets the accuracyrequirement.