• CN: 11-2187/TH
  • ISSN: 0577-6686

Journal of Mechanical Engineering ›› 2020, Vol. 56 ›› Issue (19): 210-220.doi: 10.3901/JME.2020.19.210

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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. 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

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

CLC Number: