摘要
针对大型扁平型立方体工件的喷涂工艺特点,将并联机构应用于喷涂工艺,设计了一种控制解耦性很好的五轴混联喷涂机器人,阐述了这种喷涂机器人的机构设计、工作原理、运动学分析、驱动方式、控制系统硬件组成及其控制方式。该机器人具有结构紧凑、喷涂效率高、涂层厚度均匀和操作简便等特点,具有较好的应用前景。
A parallel mechanism was used in spray painting equipment for large and flat cube workpiece.A 5-axes decoupling hybrid spraying robot was designed.The mechanism design,working principle,kinematical analysis,drive mode,hardware composition and control method of control system for the spraying robot were expounded.The robot had compact structure,high spraying efficiency,uniform coating thickness,simple operation,and good prospect.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2012年第4期216-220,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金资助项目(60875052)
江苏高校优势学科建设工程资助项目(苏政办发(2011)6号)
关键词
机器人
喷涂
混联机构
设计
Robot,Spraying,Hybrid mechanism,Design
