Research And Development Of Robot Spray Simulation System

Robot spraying instead of manual spraying can guarantee the quality and stability of the spray process,improve process efficiency and avoid the bodily injury of the workers during manual spraying,therefore it increased the spraying production benefit.However,traditional robotic spraying uses manual teaching methods to take actual spraying experiment,in order to generate spraying path and evaluate its spraying effect.But because this method requires repeated trials in order to obtain a better spraying path,it takes a lot of time and materials,furthermore,the teaching of spraying injures the operator's health.So it can no longer meet the requirements of modern spraying processes.In this paper,a spraying robot simulation system was developed after graphic simulation and spray processing technology have studied.Spraying robot programming can be more efficiency,quality of robot spraying can be better and robot spraying process can be simpler by using this robot spray simulation system.In order to develop the system,this study carried out the following work:The forward kinematics and inverse kinematics problem of the robot were solved after the linkage parameters list which based on the mechanical structure of partner company's spraying robot was established.By studying the space trajectory generation algorithm,the motion algorithm programs of speed planning,line interpolation and arc interpolation of the spatial motion are set up.And the trajectory generation function of the simulation system is realized.Based on the actual situation of robot spraying process,the paper researches spraying principle?spraying system and spraying deposition model,analyzed the factors that affect the quality of robotic spraying,and presents an elliptical double gaussian sum distribution model in the end.After actual spraying experiment,the model's pending parameters were calculated and its practicability was verified.Based on the functional requirements of simulation systems,this paper constructs the structure of simulation system and divided system into user interaction?graphic model?motion simulation?trajectory generation?spray simulation and file system module.The motion simulation and spraying simulation modules are explained in detail: motion simulation module uses Unity3 D platform's function makes each joint model rotatecorrespondingly to realize the simulation of robot movement;Spray simulation module calculates the thickness information of the painted workpiece and then adjusts the color value of the vertex of the sprayed workpiece model,to realize the spraying deposition thickness graphical simulation.Finally,test and run the established robot simulation system.The paper mainly test the motion simulation function and spraying thickness simulation function of the system.After analyzing the trajectory data and deposition thickness data generated during the simulation,the reliability and practicality of the system are verified.