Research On Robotic Painting Manipulator For Irregular Components Of Reproduction Cartridge

In the process of reproducing cartridge, a layer of transparent paint should be coated on the surface of irregular components for protection and decoration. At the present time, painting technique of irregular components is still on the stage of manual and semi-automatic operation in reproducing cartridge industry. To minimize the environmental pollution of paint spray and guarantee painting quality, there is an urgent need to develop painting robot manipulator for irregular components. In this paper, a painting robot manipulator for irregular components in reproducing cartridge is carried out on the base of consulting considerable information. The following works and achievements have been completed:(1) The painting robot manipulator's overall design, including structure, driven proposal and control system, is designed according to the work environment and task demands. The manipulator's structural parameters are determined according to the size of irregular components; three-dimensional solid model has been built and assembled in UG.(2) Kinematics problems are analyzed using DH expression. Firstly, build the transformation matrixes between each connecting link, and then derive kinematics direct problem and inverse problem. Combining manipulator's mechanical structure, the whole workplace of the painting robot manipulator is drawn in MATLAB software using Monte Carlo method.(3) Painting trajectory is generated in both joint space and Cartesian space according to robot's trajectory planning principle. In joint space, trajectory planning includes cubic polynomial interpolation and high order polynomial interpolation. In Cartesian space, trajectory planning is the interpolation method for space line, plane and space circular arc.(4) In order to realize trajectory planning, build the robot manipulator model using Robotics Toolbox in MATLAB. Then build robot's simulation model in SimMechanics which works in MATLAB/Simulink environment. Simulation results show that the end-effecter track trajectory well, each robot's joint move smoothly, the parameters are verified reasonably.