Study On Some Key Technologies Of 4R 3-DOF Spraying Robot Wrist

Spraying robot is one of the representatives of advanced manufacturing equipment.It is an indispensable and vivid production equipment in the field of advanced manufacturing.Spraying robots have many advantages,and is widely applied to automobile surface,parts and electronic products coating operations.According to the actual requirements of the project,the structure,kinematics analysis and terminal pose error analysis of 4R3-DOF non-spherical wrist are studied in depth.The main research results are as follows:According to the working principle of spraying and spraying process requirements,which designed the 4R 3-DOF non-spherical robot wrist and insulation bracket.The wrist has 4 rotary shafts and 3 degrees of freedom.The wrist is allowing the paint line,forming the air tube and velocity through the fiber,where install hose line protection hose on the wrist inside.The wrist is flexible with compact structure,which can realize arbitrary pose three space,and set up three model in the Solid-works.Through the analysis of the wrist,the tilt angle of the insulation bracket was determined.4R 3-DOF of non-pherical wrist robot kinematics analysis by D-H modeling method was carried out based on the established kinematics equation and inverse kinematics equation.The correctness of the kinematics equation built by example,in MATLAB using the Monte Carlo method to draw the wrist workspace,a specified trajectory in the workspace,using inverse kinematics equation the inverse solution,the results into the driving motion as ADAMS,trajectory and trajectory theory to do comparison,further verified the correctness of the kinematics,error analysis and control foundation.Based on the theory of graph theory,the algorithm of 4R 3-DOF wrist dynamic analysis system is given in this chapter.The 4R 3-DOF wrist is divided into the main chain(the supporting link)and the secondary chain(the supporting link).The concept of virtual connecting rod is introduced in the main chain,and the wrist is divided into the concept of 3R 3-DOF open chain and additional chain.The generalized inertia force of the open-loop chain,the additional chain and the secondary chain is derived by using the Lagrange formula.Finally,the inertial force is integrated to synthesize the dynamics equation of 4R3-DOF wrist system,and is simulated in ADAMS software to verify the correctness of the establishment of the dynamic model.The coupling effect of gear trains and coupling is considered in the proposed algorithm.Compared with the existing ones,the algorithm is more practical and can be applied to other gear mechanisms with coupling joints.Finally,the end of the wrist position error and attitude error model is established based on the kinematics model.The pose errors in MATLAB are simulated,and the angle parameter error is the main factor affecting the wrist posture error compensation method,by providing some wrist results greatly reduce the error.