Research Of Dynamic Characteristics And Trajectory Planning Of Six-DOF Controllable Mechanism Spraying Robot

At present,the application of a wide range of spray robots is serial robots,with a simple structure,the advantages of large work space,but because of its body is a long series of chain,and its drive is mainly installed in the robot joint position,so the robot as a whole stiffness is not high,high-speed movement when there is a large inertia,the joint error of the larger joint,while affecting the accuracy of the robot.Therefore,according to the characteristics of the traditional series mechanism and the parallel mechanism,a new 6-DOF controllable mechanism spray robot is designed by applying the theory of the controllable mechanism to the mechanical design.Change the layout of the drive,the traditional direct drive mode into an indirect drive mode,this indirect drive is through the four-link mechanism to drive the movement of the drive to the drive joints,not only increased the overall stiffness of the body,and makes one of the drive Mounting position on the base,reducing the inertia of the mechanism;the four-link mechanism is designed to be parallel to the quadrilateral mechanism,compared to non-parallel with a larger work space and flexibility,and easy to control;The drive uses a servo motor cylinder,which provides a large thrust,and its position,speed control accuracy is higher.In this paper,the following four aspects of this six-degree-of-freedom controllable mechanism spray robot are mainly done.Firstly,the structural characteristics of the traditional industrial spraying robot are introduced.The design idea of the new 6-DOF controllable spray robot is described.The degree of freedom of the spray robot is analyzed by the spiral theory.Secondly,the kinematics of the spray robot is analyzed by DH method,and the positive kinematics equation of the sprayed robot is solved.The inverse kinematics problem of the spray robot is analyzed by algebraic closure method.Then consider the differential motion of the robot to analyze the speed of the robot.Thirdly,by using the Lagrangian method,the kinetic equation of the sprayed robot is solved by the elemental approach and from the micro-element to the whole.Fourthly,the dynamic characteristics of the robot considering the gap of two motion pairs are analyzed by continuous contact model.Fifthly,the trajectory planning of Cartesian space is carried out based on the user's requirements.Then,the joint angle is obtained by the inverse solution,and finally the high-order polynomial is used to fit the joint space of the spray robot.