Design And Structural Optimization Of A 6-DOF Painting Robot

Painting robot is a combination of robotics and painting techniques with high quality of painting,good flexibility.It improves the environment of the workshop.Painting robots play an important role in automobile industries.This thesis presents a design and optimization method using main components of a self-developed 6-DOF painting robot under the robotics project of Tianjin City.The main contributions of this work are outlined below.We analyzed painting robot mechanism by combining all painting techniques as basic structure requirements.Forward and inverse kinematics based on DH method is also studied.Dynamic modeling of the painting robot is simulated by ADAMS(Automatic Dynamic Analysis of Mechanical Systems)to make the virtual prototype of the painting robot.As a result,we were able to determine some typical painting trajectories.With ADAMS and typical painting trajectories,we get loads on robot arm joints in different painting trajectories and velocities to do structure optimization of some main parts of the robotWe proposed a structure topology optimization on some main parts of the painting robot base on ABAQUS and TOSCA.First,ABAQUS is used to perform finite element analysis on the upper arm,the waist and the base of the robot.TOSCA is used to do the topology optimization to reduce some amount of the mass.We then reconstruct the models of the upper arm,the base and the waist according to the optimized structures.For an unchanged mass,the stiffness increases.ABAQUS is again used to investigate the stiffness of the parts before and after optimization.Through the research,we get a proper structural design method to solve the problem of the painting robot.