Study On Serial-parallel Hybrid Cars Spraying Robot Control System Based On UMAC

Applied as spraying robot automated spraying equipment has been very widely used in the modern automotive coating line. The topics to a self-developed fixed 5-DOF serial-parallel hybrid spraying robot for the research object, analyses the kinematics performance of the robot and spraying integration process parameters. Based on IPC and UMAC develops motion control programs and appropriate motor function.The spraying robot kinematics performance using serial-parallel hybrid mechanism has not small error accumulation of parallel mechanism, but also a large space of serial mechanism. Based on kinematic mathematical analysis model, solves positive equation and inverse equation of mechanism. By using the Monte Carlo method and limit analysis, based on the positive solution of mechanism, analyses the flexibility of movement space and the extreme location of mechanism, to provide a theoretical guarantee for subsequent integration spraying process and motion control system.Spraying process analysis of the robot, using the rotate bias β distribution curve model, establishes the coating cumulative thickness of gun fixed model, the coating cumulative thickness of single-channel model and the coating cumulative thickness of reciprocating model, then adopts "the model projection method" to establish a curved surface coating accumulation thickness model, analyzes influence factors of the coating cumulative thickness model including value of β, the gun distance from the workpiece surface, the total amount of coating per unit time, the rate of movement of the spray gun and the paint overlap between adjacent spray tracks. Presented with variable height gun model to solve the serial-parallel hybrid spraying robot chain range of motion problems, analyzed uniform consistency of the coating accumulation thickness models under different the height of the gun. Surface to be sprayed coating thickness variance optimization objectives, simulated and analyzed the moving rate of the spray gun and paint coating amount of overlap between adjacent spray tracks under the same gun heights and coating amount of overlap between the tracks under the different gun heights, to follow-up spraying process control system spraying parameters integration to provide technical support.The robot control system uses IPC and UMAC master-slave control model, develops the appropriate control scheme based on kinematic analysis and spraying parameters integration, and matchs the appropriate control module. By using identification device of auto-body, achieves a variety of auto-body models mixed spray in the same coating line, planning the spray coating process on time and gun space trajectories. By motion planning, realizes of spraying robot motion mechanism and feed motion mechanism of auto-body cooperative control. Based on the control system of robot and gun space trajectory planning, completes the development of robot motion and function of the upper monitoring module.In this paper, according to the performance of robot kinematics, spraying process integration parameters and robot spray gun space trajectories simulation analysis, simulation results show that a reasonable idea of this paper.