六自由度喷涂机器人结构设计

六自由度喷涂机器人结构设计The Structure Design of 6-DOF Spraying RobotAbstractThe spray painting robot is mainly composed of robot body,computer and correspondingcontrol system.It uses 5 or 6 degrees of freedom joint structure.The arm has larger motionspace and can do complex trajectory motion.The wrist has 2~3 freedoms,and it can moveflexibly.The wrist of a more advanced painting robot adopts flexible wrist,which can beflexed in all directions and can be rotated.Its action is similar to that of a man's wrist.It caneasily reach the inside of the work piece through smaller holes and spray its inner surface.The paint spraying robot is generally driven by hydraulics,which has the characteristics offast action speed and good explosion-proof performance.It can be taught by hand holdinginstruction or point number display.Spray painting robots are widely used in automobile,instrument,electrical appliances,enamel and other process production departments.(1)According to the working characteristics and design requirements of the sprayingrobot,the relevant technical parameters and structural design plan of the spraying robot aredetermined.In this paper,CAD and 3D modeling software Solidworks are used for drawing,and each part of the six DOF sprayed robot is preliminarily designed.(2)According to the different driving modes of the spraying robot and the calculation ofthe parameters of the motor and retarder,and select the motor and the reducer according to theparameters,the final transmission system is determined.(3)The static characteristics of the key parts of the spraying robot are analyzed by usingthe finite element software and the structural strength theory,and the deformation and stressdistribution of the key parts are analyzed.(4)On the basis of static checking,the mechanical strength of the key parts is optimized,and the statics analysis of the structure is carried out again,and the results of the analysisbefore and after the optimization are compared.Key Words:Spraying Robot;Static Check;Structural DesignII-