一种经济型喷漆机器人设计与运动学分析

Design of an economic-type spray painting robot and kinematic analysis

设计一种经济型喷漆机器人,适用于对体积不大的家用电器、家具和小型机械设备零/部件等的喷漆作业。建立该喷漆机器人的数学模型和连杆坐标系统,求出机器人的运动学正解。针对机器人位置结构和姿态结构的特点,提出一种简单的、利用末端执行器位置矢量和姿态转换矩阵建立的逆运动学算法,并验证该算法的有效性。

Designed a kind of economic-type spray painting robot, apply to the size of small household appliances, furniture, small machinery and equipment parts and components such as the painting operation, the spray paint robot set up mathematical models and homogeneous coordinate system, obtained forward kinematics of the robot. For the location of robot structure and the structural characteristics of gesture, a simple, use the end of the actuator position vector and attitude transformation matrix set up inverse kinematics algorithm, and verify the effectiveness of the algorithm.