Structural Optimization And Position And Posture Errors Analysis Of The Painting Robot

Painting robot has been widely used in automobile, building materials, household appliances and other fields, with its characteristics of great flexibility, high spraying quality and material utilization, easy operation and high maintenance equipment utilization. China has also done a lot of exploration and research in the development of painting robots, but the performance of developed products is unstable, the life of structural parts is low, and the spraying operation is not standard, which has a direct impact on the development and application of painting robots. Thus, on account of these problems of painting robots, this paper carries out static analysis, lightweight design of large arm, research of analysis of the end static pose error using topology optimization, perturbation method and perturbation method for the object of robot manipulator, the key parts of painting robots, to verify the strength and stiffness of the key components, realize the lightweight design of the arm, draw a conclusion of the angle parameter error is an important factor affecting the end pose error, and to improves the reliability and accuracy of the structure. This paper is good for promoting the performance of lifting painting robots.The main work carried out as follows:(1)Statics analysis of the key components of the painting robot. Based on finite element analysis, this paper processes the static analysis of key parts of painting robot, establishes the 3D model of the key parts of painting robot’s base, waist and arm, and use ADAMS simulation to obtain the maximum force and torque parameters of spraying manipulator. According to the actual conditions and results of ADAMS analysis, this paper establishes the analysis model of ABAQUS simulation platform of robot manipulator based on statics, and analyzes the stiffness and strength of the key parts of the waist and arm of the robot manipulator. The analysis results meet the design requirements.(2)The lightweight design method of robot arm. This paper establishes the optimization mathematical model of the robot arm and designs the lightweight method of arm, basing on the optimization theory, using Opti Struct solver, for the target to minimize the soft of arm, on the constraint condition of arm volume, and using the regional division as design variables. According to the structure topology optimization calculation, we design the arm second time and use the ABAQUS to test its stiffness and strength. Results show that, on the condition of meeting the large arm stiffness and strength, the robot arm is optimized to reduce the quality of 6.26 KG. The optimization effect is obvious.(3)Analysis of terminal painting robot static posture error. We analyze the causes of the error at the end of the painting robot and establish the D-H model of robot kinematics. Basing on the space coordinate transformation principle and the D-H model, we create a perturbation error model to analyze the position error and posture error by the MATLAB mathematical software. We obtain the curve of the effect of the various factors on the position error and posture error, and draw a conclusion that the angle parameter error is the main factor affecting the terminal pose errors. This provides a theoretical basis for improving the accuracy of the terminal of painting robots.