基于试验与仿真联合分析的喷涂机器人轨迹精度可靠性研究

doi:10.3901/JME.2020.19.210

机械工程学报 ›› 2020, Vol. 56 ›› Issue (19): 210-220.doi: 10.3901/JME.2020.19.210

• 特邀专栏：纪念张启先院士诞辰95周年 • 上一篇下一篇

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基于试验与仿真联合分析的喷涂机器人轨迹精度可靠性研究

潘敬锋¹, 訾斌¹, 王正雨¹, 王道明¹, 郑磊², 游玮³

1. 合肥工业大学机械工程学院合肥 230009;
2. 希美埃(芜湖)机器人技术有限公司芜湖 241060;
3. 埃夫特智能装备股份有限公司芜湖 241060

收稿日期:2020-02-29 修回日期:2020-07-08 出版日期:2020-10-05 发布日期:2020-11-17
通讯作者: 訾斌(通信作者),男,1975年出生,博士,教授,博士研究生导师。主要研究方向为柔性驱动机器人理论、技术与装备,智能制造系统控制与自动化和机电液装备系统集成技术及应用。E-mail:zibinhfut@163.com
作者简介:潘敬锋,男,1995年出生,博士研究生。主要研究方向为机器人控制技术及其应用。E-mail:panjingfeng163@163.com
基金资助:
国家重点研发计划（2017YFB1303900）和国家自然科学基金（51925502）资助项目。

Research on Reliability of Spray Robot Trajectory Accuracy Based on Conjoint Analysis of Experiment and Simulation

PAN Jingfeng¹, ZI Bin¹, WANG Zhengyu¹, WANG Daoming¹, ZHENG Lei², YOU Wei³

1. School of Mechanical Engineering, Hefei University of Technology, Hefei 230009;
2. CMA(WUHU) Robotics, Co., Ltd., Wuhu 241060;
3. EFORT Intelligent Equipment, Co., Ltd., Wuhu 241060

Received:2020-02-29 Revised:2020-07-08 Online:2020-10-05 Published:2020-11-17

摘要/Abstract

摘要： 采用链驱动的喷涂机器人易于实现本体的轻量化、末端高灵活度与正压防爆系统设计，从而满足家具、钢结构等一般涂装行业对喷涂机器人工作空间与腕部灵活度的要求，深入分析链驱动机器人的运动可靠性对喷涂质量和效率的提高具有重要意义。针对链驱动喷涂机器人的运动可靠性问题，采用一种基于试验与仿真联合分析的机器人末端轨迹精度可靠性分析方法。以旋量法为基础建立了喷涂机器人本体和喷枪的运动学模型，从工业机器人的操作臂性能和运动规律的角度出发，研究了喷涂机器人运动精度的影响因素。分析了链驱动喷涂机器人的优缺点和末端轨迹精度的影响状况，并结合机器人本体的运动学参数，建立了基于随机变量的喷涂机器人运动误差模型。通过试验结果的分析来确定影响喷涂机器人运动误差的随机变量的分布特征，从而对机器人末端轨迹精度的运动可靠性进行更加精确的仿真分析。最后，通过喷涂机器人工作平台对末端轨迹精度的运动误差进行试验验证并与传统的仿真分析方法进行对比，结果显示该分析方法更准确。研究成果为进一步分析喷涂机器人的机构优化、轨迹规划和漆膜质量提供试验基础和理论依据。

关键词: 喷涂机器人, 链驱动, 轨迹精度, 随机变量, 运动可靠性

Abstract: The chain-driven spraying robot is easy to realize the light weight of the body, high flexibility of the end and the design of a positive pressure explosion-proof system, in order to meet the requirements of the painting robot working space and wrist flexibility in the general coating industry such as furniture and steel structures, in-depth analysis of the motion reliability of chain-driven robots is of great significance to the improvement of spraying quality and efficiency. Aiming at the motion reliability problem of the chain-driven spraying robot, a method for analyzing the reliability of the robot's end track accuracy based on conjoint analysis of experiment and simulation is employed. The kinematics model of the spraying robot body and spray gun is established based on the method of POE, the influencing factors of motion precision of spraying robot is studied from the perspective of the performance of operating arm and motion law of industrial robot. The advantages and disadvantages of chain-driven spraying robots and the influence of end trajectory accuracy are analyzed, a kinematic error model of spraying robot based on random variables combined with the kinematic parameters of the robot body is established. According to the analysis of experimental results, the distribution characteristics of random variables that affect the motion error of the spraying robot are determined, then more accurate simulation analysis of the motion reliability of the robot's end trajectory accuracy is performed. Finally, the motion error of the end trajectory accuracy is verified using the working platform of spraying robot and compared with the traditional simulation analysis method, the results show that the simulation results of the proposed analysis method are more accurate. The research results provide experimental foundation and theoretical basis for further analysis of robot mechanism optimization, trajectory planning and paint film quality.

Key words: spraying robot, chain-driven, trajectory accuracy, random variables, motion reliability

中图分类号:

TP24

潘敬锋, 訾斌, 王正雨, 王道明, 郑磊, 游玮. 基于试验与仿真联合分析的喷涂机器人轨迹精度可靠性研究[J]. 机械工程学报, 2020, 56(19): 210-220.

PAN Jingfeng, ZI Bin, WANG Zhengyu, WANG Daoming, ZHENG Lei, YOU Wei. Research on Reliability of Spray Robot Trajectory Accuracy Based on Conjoint Analysis of Experiment and Simulation[J]. Journal of Mechanical Engineering, 2020, 56(19): 210-220.

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基于试验与仿真联合分析的喷涂机器人轨迹精度可靠性研究

Research on Reliability of Spray Robot Trajectory Accuracy Based on Conjoint Analysis of Experiment and Simulation

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