Design And Realization Of Off-line Programming Module Of 7-DOF Spraying Robot

Spray painting is an important part in the manufacture industry.Spray painting robots are widely used to improve spraying operation environment reduce the work intensity and the damage to the body of the operators from the paint mist and improve the production efficiency.The traditional operation of spraying robot adopts teaching programming,which has the advantages of simple operation,low price better spraying effect in plane.However,teaching programming spends more time,and teaching workers is exposed to the toxic environment for a long time.When spraying curved surface and inner cavity,it is difficult to meet the spraying quality requirements.In order to solve the above problems,the off-line programming is designed and developed with the 7-DOF spraying robot as the operating object.The main research contents are as follows:(1)This paper analyzed and designed the components of the offline programming system,and explained the functions of each module.The steps of the main modules of the subject were briefly explained.The kinematics solution module and trajectory planning module were designed in Matlab.The model and motion simulation module were designed in SolidWorks software.(2)Based on the general 3D Graphic exchange storage format STL,trajectory planning algorithm was researched.Firstly,the STL data was updated according to the relative position and orientation between the spray workpiece and the robot,and the non-spray surface data is removed from the updated data.Secondly,the intersection point between the workpiece model and the tangent plane was calculated by using the tangent plane method.Then,the spraying path was planned according to the angle change of the spray gun.Finally,the position and attitude of the trajectory planning node were solved according to the path intersection point.(3)Based on D-H method,the forward kinematics of the robot was established,and the Matlab Robotics 9.0 toolbox was used to verify the kinematics.In order to solve the inverse kinematics problem of the 7-DOF robot,the RBF neural network was used to solve the inverse kinematics of the robot.The least square method is used to optimize the selection of the neural network center point,and the standard was set to optimize the neural network training set to improve the accuracy and speed of the solution.(4)Through SolidWorks Motion platform,motion simulation was carried out with each joint axis angle.The feasibility of the planned method was verified by the animation results.