A Method Of Static Structural Optimization Design Method Of Automotive Spraying Robot With High Trajectory Accuracy

The spraying robot has a large arm span and needs to be hollow and explosionproof,which requires high precision and energy consumption.These factors need to be considered comprehensively in the structural design stage.How to design the robot structure according to the above problems and determine the reasonable connecting rod structure is of great significance to improve the comprehensive performance of the spraying robot.In this paper,combining with the design requirements of automotive spraying robot,based on the analysis of the factors that affect the trajectory accuracy of the robot,the research work of robot structure optimization design is carried out.Trajectory accuracy is an important index to evaluate the performance of spraying robot,which directly affects the quality of spraying.The key factors affecting the trajectory accuracy are analyzed,and three technologies are proposed to achieve high horizontal trajectory accuracy: The absolute positioning accuracy of the robot is improved by kinematics calibration;According to the requirement of trajectory precision,the maximum static deformation of the robot is limited;The mass of robot is reduced and the influence of inertial force on trajectory accuracy is reduced by structural topology optimization.In this paper,the method and specific flow of the design theory are given,and the work of structural optimization is explored in detail.The spraying task space of the robot was established,and the maximum deformation position point of the robot in the task space under the two different installation modes was determined.The maximum static deformation of the robot at the position point was restricted to ensure that the robot could meet the deformation requirements in the whole task space.Finite element software was used to analyze the structure of the robot in the maximum deformation pose,and the deformation contribution rate of each component was determined to determine the direction for subsequent optimization.In view of the large deformation of the base in floor mounting,a new base is designed for this mounting method.The structural topology optimization of the robot was carried out under the constraint of maximum static deformation.Based on the analysis of the relationship between the deformation of connecting rod and the whole machine,an optimization method of position deformation constraint for slender structure and Angle deformation constraint for box structure is proposed,and the deformation distribution is carried out.The topological optimization of the main structure of the robot was carried out in reverse order,the conceptual model of the optimization was reasonably interpreted,and the model reconstruction was completed according to the process requirements.By comparing the static deformation and quality of the whole machine before and after optimization,it is verified that the proposed method can achieve the optimization goal of reducing the quality of the whole machine while satisfying the maximum static deformation constraint.