The Structure Design And Analysis Of 6-DOF Joint Type Spraying Robot

As an important branch of industrial robots, spraying robot can liberate workers from poor spraying conditions, at the same time can greatly improve the quality of spraying and spraying efficiency, has great application prospects in the future. At present the automatic spraying robots used in our country equipment manufacturing industries coating production line are mostly from foreign equipment manufacturers, such as ABB, YASKAWA, etc. In order to break the monopoly of foreign manufacturers, our country need to make breakthrough in the key technologies of spraying robot to reduce manufacturing costs, and improve the market competitiveness of products. This paper combined with the project cooperation with an spraying equipment enterprise, with six degrees of freedom joint type spraying robot as the research object, aims at realizing the spraying robot industrialization, the concrete research contents are as follows:â‘  According to the design requirements of spraying robot, combined with the design method of general industrial robot, the spraying robot are divided into some modules to do its structure design,and the joint coordinates type robot is chose as the design types for spraying robot, 3R oblique non-spherical wrist is chose to complete the spraying robot structure design.â‘¡ The spraying robot coordinate system is established based on the D-H method, to derive the praying robot kinematics equation, and the simulation of the spraying robot work space has done with the mathematical software to verify the correctness of the spraying robot kinematics equation derived, and the correctness of the structural parameters of spraying robot designed. And the robot velocity Jacobi Matrix is derived by using the spraying robot kinematics equation.â‘¢ The spraying robot dynamics analysis model is established based on the Lagrange equation method to derive the spraying robot dynamics equation. The equations are used to describe the relationship between the driving torque and the spraying robot motion parameters.â‘£ The 6 DOF joint type spraying robot virtual prototype is established by using the dynamics simulation software ADAMS to calculate the peak torque of each robot joint. The servo motor of each joint is selected based on the movement parameters of the 6 DOF joint type spraying robot, and the equivalent moment of inertia of each shaft.