Research On The Design And Motion Reliability Of The Parallel Configuration For Car Spraying

In this paper, according to the demand for the painting work on the componentsand the body in the automotive industry, put forward a parallel configuration of spraymechanism. According to the automobile spraying work characteristics and functionalrequirements, complete the spraying robot configuration design, establishes theevaluation index kinematics performance, and through the multi-objective optimizationmechanism to determine the parameters of the mechanism. On the basis of this，analysis the precision of the configuration, and the error compensation, and the motionreliability. Finally, carry on the virtual prototype test of its. The concrete researchcontent mainly consists of the following aspects:Firstly, the configurations design of a parallel spraying robot. According to theoperation of spray painting robot requirements, design the parallel configurationspraying robot. In the robot, the parallel mechanism is the main part of the robot. Itaffects the accuracy of the spraying effect. Use the configuration evolution method todesign the parallel mechanism. Then carries on the design to the system, and makes abrief introduction of its working principle and working process.Secondly, establish the kinematics and the related performance index. Use thecoordinate transformation method to establish the kinematics of3-UPS-PU parallelmechanism and Jacobian matrix. The methods and steps of solving the workspace aregiven based on the kinematics inverse solution of position. And establish the speedperformance, mechanism singularity and evaluation index of operation.Thirdly, multi-objective optimization and analysis of kinematic properties. Inorder to get reasonable structure parameters, use multi objective genetic algorithm tooptimize the structure parameters of the3-UPS-PU parallel mechanismis. And analysisthe kinematic performance based on the optimized structure parametersFourthly, analyze the precision and research the error compensation of the parallelmechanism. According to the inverse solution, establish the model of positive solutionsof pose error output kinematics mechanism. And to the output pose error for thepositive solution of the model are analyzed pose parameters and structure parameterson the output error. Finally, research the compensation to the output pose error, anddetermine the compensation plan.Fifthly, analyze the parallel mechanism motion reliability. Mass production of the body, the error of each component obeys a particular distribution. In determining thedistribution model, based on solving the output pose error model using Monte Carlomethod to solve the mechanism motion reliability.Sixthly, the virtual prototype test of the3-UPS-PU parallel mechanism based onthe RecurDyn software. By using the multi-body dynamics simulation softwareRecurDyn, establish the simulation of the3-UPS-PU parallel mechanism model. Andput forward a kind of the parallel mechanism hinge installation error method forsolving the output pose error conditions.