Structural Design and Analysis of 3-DOF Manipulator for Spraying Operation

被引：0

作者：

Zhao, Xinhua ^{[1
,2
]}

Ma, Mengchen ^{[1
,2
]}

Li, Bin ^{[1
,2
]}

Li, Qi ^{[3
]}

Yang, Yong ^{[3
]}

机构：

[1] Tianjin Univ Technol, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Tianjin 300384, Peoples R China

[2] Tianjin Univ Technol, Natl Demonstrat Ctr Expt Mech & Elect Engn Educ, Tianjin 300384, Peoples R China

[3] Tianjin Inst Aerosp Mech & Elect Equipment, Tianjin Key Lab Aerosp Intelligent Equipment Tech, Tianjin, Peoples R China

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年

关键词：

Spray Manipulator; Trajectory Planning; ANSYS Workbench;

D O I：

10.1109/icma.2019.8816606

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a 3-DOF manipulator is designed for the ship-painting robot as the carrier to carry out the ship spraying operation with flexibility, high speed and high precision. Firstly, the model of the mechanism is established with three-dimensional software, and its connecting rod parameters are obtained accordingly. Moreover, the connecting rod coordinates system is constructed according to D-H theory, and the corresponding forward and inverse kinematics equations are derived. According to different operational requirements, the core components suitable for different speeds, accelerations, loads and other related parameters are designed through theoretical calculation. The trajectory planning and simulation are carried out by using MATLAB Robotics Toolbox. Static analysis and modal analysis are carried out by ANSYS Workbench. It provides theoretical support for later engineering manufacturing and practical application.

引用

页码：572 / 577

页数：6