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With the development of robots , gradually expanded the scope of its application , extend to all walks of life from the industrial sector . Currently on the hard strokes , soft strokes and calligraphy study more, uncommon for brush painting robot research . Brush nib is long and soft , hard brush and soft brush control than the high degree of difficulty , brush painting will become a new area of ??research robot control . Painting robot robotics research covering kinematics, trajectory planning, image processing, pattern recognition, speech recognition , artificial intelligence and other disciplines . This paper developed a robot-based MuratecRAC87A brush painting robots. This paper details the specific contents are as follows : First, the combination of a large number of references , analyzes the development status of painting robots , explains the significance of developing a brush painting robots . Secondly , in order to meet the requirements of painting robots , using three-dimensional mechanical design software design penned makers. In the design process , the introduction of stress analysis and optimization penned makers. Part of the maximum displacement value is reduced by 60 % or more, the maximum stress value is reduced by 40%. Once again, with DH painting robot modeling method to establish the mathematical model , the use of MATLAB-based platform Robotics Toolbox Toolbox for robot kinematics are analyzed and validated , and then the robot painting simulation to achieve the proposed control method . Finally , the design of the painting robot conducted a physical test , the use of behavior-based robot control brush painting method draws an orchid map. Made by the eight pen drawing of orchids better , showing orchids soft, indifferent and elegance .
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