Kinematics Analysis And Parameters Optimization Of Valve Spraying Robot

With the acceleration of automation and intelligence in manufacturing industry,industrial robots have been widely used.In order to reduce the labor intensity of spraying workers,improve the spraying working environment,speed up the spraying operation efficiency and improve the quality of spraying products,automatic spraying operation based on robot has become the first choice for manufacturing enterprises.In this paper,first of all,through analysising the spraying process of valve,requirements and specifications,in order to make spraying robot able to spray arbitrary trajectory in three-dimensional space with arbitrary postures,This paper presents six rotating joints series of spraying robot configuration;in order to adapt to the spraying operation in narrow space,and maintain sufficient flexibility of the robot wrist,the oblique non spherical wrist of spraying robot is proposed in this paper.Based on analysis the influence of the basic parameters of the spraying robot on working space,then determine its basic parameters,and then the virtual prototype model of the spraying robot was builted by the software of Solidworks.Secondly,based on the layout of the spraying robot relative to the workpiece,analysis the layout of spraying robot when the workpiece coordinate system is determined,when it have the requirement of speed,and when avoiding collision between robot and workpiece.Based on the geometric method to solve the working space of the robot,according to the Matlab numerical optimization method to solve the length of the arm and the forearm.When the total length of the arm and the forearm is determined,the corresponding working space is obtained according to the Monte-Carlo method.Based on the inverse transform method,the inverse kinematics of the spraying robot with oblique wrist is analyzed and solved.Based on the general point driving simulation function of Adams,the inverse solution of the first three joint angles of the spraying robot body are solved.Based on the theory of Frenet-Serret vector,in this paper,the trajectory planning of valve workpiece spraying is carried out,The space straight-line and space arc-curve were selected as the final spraying trajectory of posture;Based on the mutual cooperation andverification by the numerical solution of Matlab and the kinematics simulation of Adams,the reasonable inverse solution of joint angle is obtained,and the trajectory planning of the robot is optimized.Finally,according to the actual situation of the enterprise,preliminary planning the whole process layout;Design for workstation of valve automatic spraying.The ability design of spraying process is also put forward.Derived the relationship betwen the transmission speed of production-line,moving speed and performance parameters of spray gun,it has certain reference value for the actual production and planning.