Design And Research For Demonstration System Of Spray Painting Manipulator

Abstract:In order to solve the hard popularize situation in ceramic industry of China, aimed at the problem of difficult programme for spray painting manipulator, a kind of spray painting demonstration system was designed. The system collected spray painting trajectory of manual demonstration through lightweight and flexible joint arm device, compiled it into industrial manipulator motor program, thus realized fast programme for spray painting manipulator. The paper mainly includes:1, The structure optimization and simulation of the joint arm device of demonstration were carried out. The joint arm device of demonstration was designed according to the actual demand of spray painting trajectory. In order to ensure that the joint arm has light weight, compact structure and convenient operation, the club length of joint arm was optimized. The simulation of workspace of joint arm was conducted. The result shows that it can meet the requirements of demonstration space. The static simulation of the optimized joint arm device was conducted. The result shows that it get small deformation under reasonable force and can meet the strength requirements2, Error analysis and compensation of demonstration system were studied. Fully analyzed the error source of demonstration system, established the error model. Analyzed the trajectory collection influences created by every parametric deviation in model through the method of graphical simulation, obtained the affection weight for system accuracy of every parameter.A kind of error compensation method for demonstration system based on modified simulated annealing algorithm was proposed. Reasonably distributing searching zone and searching precision by affection weight of the modified simulated annealing algorithmcombined with the error model parameters for system accuracy, searching zone was reducedand searching precision was increased. When the algorithm approached optimal solution, searching time for optimal solution was greatly reduced.3,The experiment reseach were done. Realized fast and accurate trajectory collection by STM32chip. Compiled the trajectory into recognizable motor program for manipulator through PC. The electronic control for demonstration system was designed.Compared coincident accuracy of demonstrated reappearing trajectory before and after the error compensation, verified the error compensation method of the improved simulated annealing algorithm was fast, accurate and effective. Through production experiment of spray painting, verified the programming design for collected position trajectory of demonstrated joint arm was reasonable.