Mechanical Design and Workspace Analysis of a Rigid-flexible Hybrid Driven Parallel Spray-painting Robot

doi:10.3901/JME.2023.15.028

Abstract

Abstract: Large equipment has large space scale and complex surface shape, so its surface automatic spraying operation is limited by many factors. For the surface coating operation of large equipment, a rigid-flexible hybrid driven parallel spray-painting robot is proposed, which is driven by cables and a linear actuator. The parallel spray-painting robot is mainly composed of a double platforms compound end-effector, cable driven modules and the framework, and it has the characteristics of large workspace and high end-effector flexibility. On this basis, four configurations of cable connection form are proposed. In addition, the kinematics and statics modeling are completed, and the force-closure workspace and the feasible wrench workspace of different configurations are calculated, and based on the tension constraint conditions, the attitude workspace of permanent position and overall space is proposed, and the configuration design is proposed based on workspace volume, attitude workspace volume and the actual working conditions. Finally, the experimental platform has been built and motion experiment is carried out. The experiment result demonstrate the rationality of the mechanism, which means that the parallel spray-painting robot has the ability to operate flexibly in a large range of space.

Key words: parallel spray-painting robot, mechanical design, rigid-flexible hybrid driven, workspace analysis

CLC Number:

TP242

ZHAO Jiahao, ZI Bin, WANG Wei, LI Yuan, XU Feng. Mechanical Design and Workspace Analysis of a Rigid-flexible Hybrid Driven Parallel Spray-painting Robot[J]. Journal of Mechanical Engineering, 2023, 59(15): 28-39.

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