Research On Mechanism Design And Structural Topological Optimization Of Spraying Robot

Spraying robot has been widely used in automobile production because of its advantages such as greatly improving spraying quality,spraying efficiency and replacing artificial work in harsh environment.It has also been attached great importance to furniture,household appliances,aircraft and other industries.Because the technical threshold is very high and no competitive products have been developed in our country at present,it is of great theoretical and practical value to develop the design method of spray robot.Firstly,the paper analyzes the data of spray robot which is more advanced,summarizes the structural characteristics and performance requirements of the major spraying robot manufacturers,and draws the factors that need to be considered in the design.The future development trend of the painting robot,and choose a suitable basic configuration;according to the installation mode and layout mode of the painting robot in the actual use environment,the robot installation position is simply optimized.The actual walking area of the spraying robot is calculated,and the robot connecting rod parameters are calculated and the calculation results are optimized.In addition,the workspace and singularity of the sprayed robot are simulated,and the shape and size of the workspace are obtained,as well as the singularity posture that should be avoided in use.Then,the static deformation analysis is carried out for the prototype designed by the research group.The workspace is divided into regions and eight typical pose points are selected to simulate the static deformation of the machine.The deformation of each member are simulated and calculated,and the contribution rate of each component to the deformation of the whole machine is obtained.The comprehensive deformation contribution rate is obtained by adding the corresponding weight coefficient to the contribution rate under different positions and postures,and the target task of the subsequent topology optimization is put forward according to the requirements for the trajectory accuracy of the spraying robot in the process of spraying.In order to improve the static performance,the minimum strain energy is obtained under the constraint condition of deformation,and the structural topology optimization design of the spraying robot is carried out.Finite element software ABAQUS and topology optimization software TOSCA are used to optimize the structure of spraying robot.According to the optimization results,the optimization model is obtained by the secondary design of the whole machine,and the static deformation analysis of the new model is carried out again to verify the rationality of the new structure.