Research On Structural Design And Simulation Of6-DOF Spraying Robot

Spraying robot is playing an important role and is used more and more widely in modern automotive industry. This thesis focused on design of a6-DOF praying robot （Referred to as PTR₀1） including its main structure, performance analysis and simulation of kinematics and dynamics. In addition, static analysis and modal analysis about its key components was made by finite method. The main works done in this thesis are stated as follows:（1） According to the spraying robot’s working features and design requirements, the related technical parameters and structural designing program of spraying robot was determined. In this thesis, the CAD modeling software Solidworks was used not only to design all parts of6-DOF spraying robot preliminary but also to assemble into a complete virtual prototype.（2） For spraying robot, the different drivers were compared, the parameters of motor and reducer were calculated and decided, then the drive system and power system of the various components were determined.（3） Based on the theory of robotics, the link coordinate system and parameters of PTR₀1spraying robot were established by the improved D-H method. The kinematics model was established on this basis, which derived the kinematics’ forward and inverse equation.（4） Under the MATLAB’s environment, the three-dimensional modeling of PTR₀1spraying robot was established to get the robot’s kinematics’ forward, inverse equation and Jacobian matrix, which verified the correction of kinematics’ equation. At the same time, the actual working space and the trajectory planning were drew by Robotics Toolbox. On this basis, the dynamics of the spraying robot was analyzed and the dynamics equation was calculated by using Lagrange method.（5） The solid model in Solidworks was imported into ADAMS software, and a virtual prototype of PTR₀1spraying robot was established. The kinematics of PTR₀1spraying robot was simulated by adding the joint forms of exercise and the driver function of each links. After the simulation, the output curves of displacement, velocity, acceleration and trajectory of the reference point and angle, angular velocity and the angular acceleration of the end of the joint were obtained. The dynamics simulation was finished by adding the quality attributes and gravity. After the simulation, the output curves of driving torques of the first three joints were obtained.（6） The static features of the critical components of PTR₀1spraying robot were analyzed by using the finite element analysis software UG NX8.0and the structural strength theory. The deformation conditions and stress distribution of the critical components were grasped.（7） Based on the structural static checking, the boom structure was optimized by the mechanical strength of the structure as the optimization targets, and the static feature was analyzed. Then, the results of before optimization and after optimization were compared.（8） The modal analysis of the critical components of PTR₀1spraying robot was analyzed by the vibration theory. The different modes and characteristics of vibrating were studied. It not only provided related data to avoid operation in the vicinity of the resonant frequencies but also provided the key modal parameters for the whole response analysis.In this thesis, the design of PTR₀1spraying robot system was completed and the performance of the spraying robot was analyzed by the virtual prototyping technology in the computer environment. Finally the desired target was achieved by the theoretical calculations and using the simulation software.