Research Of5-DOF Spraying Robot Trajectory Planning

Spraying as one of manufacturing process is so essential that replacing the traditionalmanual spraying with the automated spraying is particularly urgent need, but the currentspraying equipment are almost limited to target characteristics, cost, etc., so the research ofspraying robot technology to meet the growing demand for automated spraying is verysignificant. In this paper, basing on the five degrees of freedom spraying robot designed bylaboratory, the following aspects are studied.According to the schematic of the five degrees of freedom spraying robot, Cartesiancoordinate system is established and the link parameters are defined. On this basis, using theD-H parameter method the kinematic equations are derived. Further, using the inversetransform method to solve the inverse kinematics problem of robot is introduced. Kinematicanalysis is the foundation of the trajectory planning and motion control.As a spraying robot software system’s necessary functions, spraying robot trajectoryplanning algorithm is studied. In the joint space cubic polynomial interpolation algorithmover the path point is studied. And in Cartesian space interpolation algorithm on linear andcircular are also implemented for the realization of teaching system.The implementation of software system for five degrees of freedom robot is one of theaims of this study. Based on a modular design approach and object-oriented thinking,spraying robot software system designed.Using the platform of five degrees of freedom robot and the software systems supportedthe teaching experiments are designed. Results show that not only the software system isfeasible in the actual spraying operations, the basic completion the requirements for sprayingrobot, but also to verify the feasibility of the trajectory planning algorithm ensuring thesmooth motion of the robot.