scholarly journals Workspace Analysis of Spray Painting Robot with Two Working Modes for Large Ship Blocks in Ship Manufacturing

2021 ◽  
Vol 2050 (1) ◽  
pp. 012018
Author(s):  
Qingfei Zeng ◽  
Xuemei Liu ◽  
Zhen Yang ◽  
Xiaocai Hu
Keyword(s):  
Structural Parameters ◽  
Kinematic Model ◽  
Resource Saving ◽  
Robot System ◽  
Environment Friendly ◽  
Spray Painting ◽  
Whole Process ◽  
Workspace Analysis ◽  
Painting Robot ◽  
Good Coating

Abstract Spray painting is crucial in the process of shipbuilding and runs through the whole process of shipbuilding. In order to obtain the good coating quality during the painting process, gantry type painting robot could be used because of its resource-saving and environment-friendly characteristics. Based on the structural parameters of the spray painting manipulator with 3DOF (Degree of freedom) gantry, the kinematic model of the painting robot system can be established. From the perspective of the two commonly working modes, namely 3P3R robot structure and the 3P6R redundant robot structure, their spraying workspace are analyzed. The result shows that the workspace volume of the 3P6R robot is much larger than that of the 3P3R robot. However, the inverse kinematics solution of 3P3R robot has analytical solution, which makes the control accurate and easy to use, and through the simulation, we can give the theoretical basis for the engineering.

Workspace Analysis and Parameter Optimization of 3-DOF Parallel Mechanism

2013 ◽  
Vol 373-375 ◽  
pp. 2136-2142 ◽  
Author(s):  
Rui Fan ◽  
Huan Liu ◽  
Dan Wang
Keyword(s):  
Parameter Optimization ◽  
Parallel Mechanism ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Inverse Kinematic ◽  
Search Method ◽  
Architecture Design ◽  
Original Volume ◽  
Workspace Analysis ◽  
The Relationship

A spatial 3-DOF translational parallel mechanism is analyzed. Its inverse kinematic model is established. The section view of the workspace of the parallel mechanism is presented via boundary search method under the defined constraints. Considering the workspace volume as the optimization object, the relationship between structural parameters and workspace volume is obtained and the structural parameters to be optimized are determined. Finally, the optimization configuration of the mechanism is obtained. The results show that the volume of the workspace increases 1.55 times as much as the original volume, which lay the foundation for the architecture design.

Multi-objective optimal design of a novel 6-DOF spray-painting robot

Robotica ◽  
2021 ◽  
pp. 1-15
Author(s):  
Jun Wu ◽  
Xiaojian Wang ◽  
Binbin Zhang ◽  
Tian Huang
Keyword(s):  
Optimal Design ◽  
Performance Index ◽  
Virtual Work ◽  
Kinematic Model ◽  
Spray Painting ◽  
Virtual Work Principle ◽  
Multi Objective ◽  
Pareto Optimal Set ◽  
Painting Robot ◽  
Optimal Set

Abstract This paper deals with the multi-objective optimal design of a novel 6-degree of freedom (DOF) hybrid spray-painting robot. Its kinematic model is obtained by dividing it into serial and parallel parts. The dynamic equation is formulated by virtual work principle. A performance index for evaluating the compactness of robot is presented. Taking compactness, motion/force transmissibility, and energy consumption as performance indices, the optimal geometric parameters of the robot are selected in the Pareto-optimal set by constructing a comprehensive performance index. This paper is very useful for the development of the spray-painting robot.

scholarly journals Design and Analysis of the Spray-Painting Robot for tall statues and monuments

2021 ◽  
Vol 2115 (1) ◽  
pp. 012003
Author(s):  
Darshita Shah ◽  
Jatin Dave ◽  
Dipen Detharia ◽  
Ashish Majithiya
Keyword(s):  
Kinematic Model ◽  
Inverse Kinematic ◽  
Tree Model ◽  
Spray Painting ◽  
Offline Programming ◽  
Tall Structures ◽  
Painting Robot ◽  
Circular Surface ◽  
Controlled Motion ◽  
Compact Design

Abstract The painting on tall structures, statues, monuments and buildings is dangerous task for humans. Robotics finds its applications in operations, which are repetitive, hazardous, and dangerous. The aim of the present work is to design a manipulator for spray painting on surfaces of tall monuments, statues and structures. The robot can be installed on a crane platform for lifting and operated from the ground. A lightweight and compact design is desired that can be easily accommodated within the space of the crane. A Revolute-Revolute-Revolute-Prismatic (RRRP) type Robotic arm is developed and analysed for this application. By establishing the rigid body tree model in Robotics System Toolbox, the numerical model of direct and inverse kinematics using Homogenous Matrix Transformation is prepared in MATLAB. Using the spray patch method and offline programming method, the spray model is prepared in Solid woks to obtain trajectory waypoints. A B-spline path is generated through these waypoints. At each waypoint, joint displacement variables are calculated using an inverse kinematic model. An air-less spray gun is selected and attached with a robot. Controlled motion algorithm for spray painting operation on a circular surface were obtained with simulation results. A smooth trajectory for performing spray painting is obtained.

scholarly journals Design and wrench-feasible workspace analysis of a cable-driven hybrid joint

2020 ◽  
Vol 17 (1) ◽  
pp. 172988141989975
Author(s):  
Shan Zhang ◽  
Dongxing Cao ◽  
Hong Min ◽  
Shuai Li ◽  
Xinglei Zhang
Keyword(s):  
Inverse Kinematics ◽  
Elliptic Integral ◽  
Structural Parameters ◽  
Kinematic Model ◽  
Preliminary Design ◽  
Hybrid Joint ◽  
Compression Spring ◽  
Workspace Analysis ◽  
Potential Use ◽  
Spring Support

This article proposes a cable-driven hybrid joint (CDHJ), focuses on the effects of external wrench payload and structural parameters on the wrench-feasible workspace for the preliminary design of the mechanism, and further discusses the wrench exertion capability of the mechanism under a certain configuration. This CDHJ has central rigid support with a revolute pair and a central compression spring support. Due to the unilateral property of cables and the flexible compression spring, the kinematic model cannot define the workspace directly; it should be combined with the statics for possible solution, including the spring lateral buckling model based on the elliptic integral solution. Moreover, a global tension index which is to evaluate the wrench-closure property of the global workspace, combined with an index which is to assess the size of the workspace, is proposed to better compare the effects of different external wrench payloads and different structural parameters on the workspace. Simulations were performed and demonstrated the correctness and feasibility of the inverse kinematics and workspace analysis of the joint. Hence, the proposed mechanism has potential use in robotics especially in wheelchair-mounted robotic manipulator joint.

The case for the spray painting robot

1973 ◽  
Vol 52 (5) ◽  
pp. 171 ◽  
Author(s):  
D.E. Jarvis
Keyword(s):  
Spray Painting ◽  
Painting Robot

Asymmetric Arm Design on Delta Robot System

2014 ◽  
Author(s):  
Tsung-Liang Wu ◽  
Jih-Hsiang Yeh ◽  
Cheng-Chen Yang
Keyword(s):  
Energy Saving ◽  
High Speed ◽  
Kinematic Model ◽  
Industrial Applications ◽  
Critical Parameters ◽  
Robot System ◽  
System Cost ◽  
Excited Vibration ◽  
Pick And Place ◽  
Delta Robot

The Delta robot system is widely used in high speed (4 cycles/s at 25-200-25 mm) pick-and-place process in production line. Some industrial applications include photo-voltaic (PV), food process, and electronic assembly, and so on. The energy saving and system cost are two critical parameters for designing the next generation of pick-and-place system. To achieve these goals, a light-weight moving structure with sufficient strength to overcome the excited vibration will be one of the solutions. In this paper, an asymmetric arm design is proposed and fabricated to gain the benefit of strength-to-weight. The asymmetric arm is designed by reinforcing a specific direction and is validated the vibration suppression capability both by simulation and experiment. A position controller that is derived from the kinematic model of Delta robot is utilized to manipulate the robot under a forward-backward motion with a polynomial trajectory with 200 mm displacement. The residual vibration, then, was measured after the forward-backward motion to compare the settling performance between symmetric- and asymmetric-arms on the Delta robot system, respectively. The results conclude as following: (1) The asymmetric arms perform slightly worse (0.03 sec more in settling time) than symmetric arm but there is 15% weight reducing comparing to symmetric arm. (2) Both energy saving and system cost reducing would be achieved by utilizing actuators with lower power consumption and fabrication on carbon fiber arms with mass customization.

Velocity workspace analysis for multiple arm robot systems

Robotica ◽  
2001 ◽  
Vol 19 (5) ◽  
pp. 581-591 ◽  
Author(s):  
Jihong Lee
Keyword(s):  
Null Space ◽  
Inequality Constraint ◽  
Space Velocity ◽  
Velocity Space ◽  
Robot System ◽  
Slack Variables ◽  
Workspace Analysis ◽  
Robot Systems ◽  
Articulated Robot ◽  
Joint Velocity

In this paper, the analysis of manipulability of robotic systems comprised of multiple cooperating arms is considered. Given bounds on the capabilities of joint actuators for each robot, the purpose of this study is to derive the bounds for task velocity achievable by the system. Since bounds on each joint velocity form a polytope in joint-velocity space and the task space velocity is connected with joint velocity through Jacobian matrices of each robot, the allowable task velocity space, i.e. velocity workspace, for multiple cooperating robot system is also represented as a polytope which is called manipulability polytope throughout this paper. Based on the fact that the boundaries of the manipulability polytope are mapped from the boundaries of allowable joint-velocity space, slack variables are introduced in order to transform given inequality constraint given on joint velocities into a set of normal linear equalities in which the unknowns of the equation are composed of the vertices of manipulability polytope, vectors spanning the null space of the Jacobian matrix, and the slack variables. Either redundant or nonredundant cooperating robot systems can be handled with the proposed technique. Several different application examples including simple SCARA-type robots as well as complex articulated robot manipulators are included, and, under the assumption of firm grip, it will be shown that the calculated manipulability polytope for cooperating robot system is actually the intersection of all the manipulability polytopes of every single robot which is hard to be derived through geometrical manipulation.

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