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Design and Error Analysis of Motion for Spray Painting Robot

Author: LiShaoKun
Tutor: XiongCaiHua
School: Huazhong University of Science and Technology
Course: Mechanical and Electronic Engineering
Keywords: Spray painting robot motion analysis error modeling trajectory planning
CLC: TP242
Type: Master's thesis
Year: 2012
Downloads: 94
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Abstract


Spray painting robot is the scope of industrial robot. It is the typical applicationwhich robot technology used for spray process. As the spraying process is special,Compared with the general industrial robots, the spray painting robot’s end-effector isrequired to move on a trace with higher and well-proportioned speed when it is working. Afive degrees of freedom spray painting robot is designed and the following aspects areresearched in this paper.(1) According to mission requirements, structure based on joints-form is adopted inmechanical design. Firstly, we determine the length of robot links by analyzing theworkspace of spray painting robot. Then, through the comparison of different drives,wechoose stepper motor driver in drive system design. Finally, we determine the jointvelocities and range of motion by referred to the similar robots.(2) Classic D-H model is established according to the robot structure and the solutionto both forward kinematic problems and inverse kinematic problems are researched. Thespeed relationship between adjacent link coordinates is derived through vector method andcompleted the speed analysis.(3) Introduce the various methods of robot trajectory generation and assign the pathof robot’s end-joint in Cartesian space on the basis of workspace analysis, then discrete thepath and calculate the position and posture of intermediate points in the base coordinatesystem. Transform mid-points of Cartesian space to joint space and then interpolate thejoint angles in joint space.(4) Analyze the static errors which cause robot’s end-effector pose errors and classifythe error sources. Then through the differential method, the formula of coordinate’sdifferential movement is derived. Finally, the matrix method and perturbation method areused to establish the robot’s static pose error model respectively.The research of this paper lays a foundation for structure design、the analysis of robotkinematic, error analysis and modeling, robot trajectory planning, and supplies referencedmethods for interrelated problems.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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