Spraying Robot Kinematics Modeling And Simulation

In industrial production, especially the coating industry,6R serial robot is very extensive application. The spherical wrist robot in the spraying operations, can effectively improve the bearing capacity, wrist flexibility is high, the working space is large, satisfy the demands of spraying robot trajectory, it has become a research hotspot in recent years. At the same time domestic robots lack of independent research of simulation system.In this paper, we study the SV type spraying wrist robot. It is the foreign series of robot products in recent years. Its main configuration characteristic is two aspects, on the one hand, It’s the end three axis is vertical, is a kind of spherical wrist. This kind of wrist was also different company named BBR wrist, Lemma wrist, etc. On the other hand, it has three joint axis parallel, meet Pieper principle, kinematics has analytical solutions. In the practical application, it has the advantages of high precision and position control precision, etc. Due to the configuration characteristics of the wrist, and each joint axis intersection is not in the same plane, so the solving process of the kinematics algorithm is relatively complex. In the domestic literature, there has no literature give the analytic solution of this kind of configuration robot. In this paper, we studied the three aspects of the SV type wrist 6R spraying robot.(1)Use the method of separation of variables and the matrix inversion to calculate accurate numerical analytical solution. For an end matrix,16 group inverse solutions can be obtained.(2)Through the calculation and simulation in Matlab, screening and verify all the solving scheme of the inverse solution.(3) Based on Qt platform, combine the QML key technology and CS design patterns design a set of programming simulation system of spraying robot.Verified, kinematics results accurate.it can be applied to the subsequent dynamics, trajectory planning and off-line programming simulation research. The simulation system realized control the movement of robot each joint axis and the robot trajectory planning. It can achieve the function of the simulation, kinematic trajectory planning and validation algorithm. Can also be further perfect, used with related robot products, realize the robot teaching function, it has practical application and future development value.