集装箱内表面喷漆机器人运动及动力特征分析-机械设计及理论专业论文.docxVIP

湖北工业大学硕士学位论文Abstract 湖北工业大学硕士学位论文 Abstract With the prosperity of foreign trade．the container manufacturing has great development in China．At present China holds the W0rld’S container production capacity more than 96％．The container spray—painting automation．especially inner-surface painting automation is key technology to be solved in the container manufacturing． Therefore，It has much important practical significance to research and design robor which can meet the requirements of container inner-surface spray．painting．Based on the understanding of research and application of spray—painting robot at home or abroad， in this paper，one rocker arm biomimetic spray-painting robot has been designed to meet the container inner—surface automatic painting． The actuality and outlook of spray-painting robot are analyzed firstly in this paper． the solution of container spray—painting robot is put forward，a 3D model of container spray—painting robber is built by the SolidWorks software，and The VP(Virtual Prototyping)for the robber is designed by the ADAMS software． Secondly，the matrices for the coordinate transformation are built by the D—H method，the direct and indirect kinematics models of the robber are also analyzed，the Joint Velocity and Jacobian matrix of the robber set up，and the workspace of the robber’S end effector is solved by Monte Carlo Method．And then，the robber is dynamically analyzed．Relation iS established the force．mass and acceleration as well as among torque，inertia and angular acceleration．According to the motion of robot’S end effector，the calculation for corresponding arthrosis torque has accomplished to make them move with acceleration and velocity which are expected，SO flS to make sure of fine location accuracy． Finally，making use of powerful emulation function of ADAMS software，the kinematics and dynamics emulation on the robot are carried out and gained simulated curves，which verify the rationality and validity of kinematics analysis and structure desig