Design and Kinematics’ Analying of a Series Nine-degree-of-freedom Spraying Robot

doi:10.3901/JME.2020.23.165

Abstract

Abstract: Spraying is an important process in industrial production. Spraying robot has been widely used in spraying industry, but the task of spraying the inner surface of complex workpiece still depends on manual operation. The main content of this paper is to design a new spraying robot to spray the inner wall of large components with multiple compartments and obstacles. According to the structural characteristics of multi-chamber and multi-obstacle large components, a robot with 9 degrees of freedom is presented, the robot manipulator is divided into working positioning device, work execution device and auxiliary support device. Based on the D-H parameter method, the mathematical model of the nine-degree-of-freedom robot is established, and the positive solution is obtained. A new method for calculating the inverse solution of redundant robot is proposed. According to the different directions of the cavity wall, the angles of the first three joints are preset to ensure that the spraying target plane is in the flexible working space of the working execution device. Considering the characteristics of the workspace of joint 7, the position coordinates of joint 7 are obtained by forward solution and inverse solution, the position and posture of joint 6 are derived, and then the inverse solution is completed by solving the angle values of other joints. The inverse solution obtained by this method can ensure that the robot has a similar configuration pose when spraying on the same wall, which solves the problems of the selection of too many inverse solutions, and greatly improves the solving speed of the inverse solution.

Key words: spraying robot, inverse solution, redundant mechanism

CLC Number:

TH112

QI Youquan, LI Yanwen, CHEN Ziming, KONG Fandong, YANG Xiaokun, ZHU Weiguo. Design and Kinematics’ Analying of a Series Nine-degree-of-freedom Spraying Robot[J]. Journal of Mechanical Engineering, 2020, 56(23): 165-171.

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