Method and device for determining installation position of spraying robot based on joint driving loads

Abstract

The invention discloses a method and device for determining the installation position of a spraying robot based on joint driving loads. The method comprises the steps of determining the reachable working space of the spraying robot according to a robot kinematics model and a joint motion angle range; establishing kinetic evaluation indexes for representing the joint driving loads according to a kinetic model; determining the task working space range of the spraying robot according to the shape and size of the working surface of a to-be-sprayed workpiece and the distance between a robot end effector and the working surface, and evenly selecting a plurality of sites at equal intervals in the range; taking the average value of the kinetic evaluation indexes corresponding to each site as an evaluation index for representing the overall load level of a region; and within the reachable working space range, searching for the lowest point of the overall load evaluation index, and determining the relative installation position of the spraying robot and the to-be-sprayed workpiece through coordinate transformation. By means of the method, motion precision fluctuation caused by drastic load changes can be reduced, and the surface coating quality of an automatic spraying system is guaranteed.

Description

technical field [0001] The invention relates to the technical field of industrial robot applications, in particular to a method and device for determining the installation position of a spraying robot based on a joint-driven load. Background technique [0002] Surface spraying is a key technology in the fields of aerospace and automobile manufacturing. If the quality of the surface coating is not satisfactory, long-term use in a complex environment will cause aging, corrosion or even peeling off of the coating, which will bring safety hazards. In order to improve the quality of surface spraying, the automatic spraying system with spraying robots as the core equipment has been widely used in various manufacturing fields. Compared with manual spraying, the spraying efficiency of robots is higher and the safety is more guaranteed. At the same time, the design of robots, Processes such as optimization, debugging, and application can be streamlined and precise through theoretical...

AI Technical Summary

Problems solved by technology

At some positions in the workspace, the driving load of the robot may increase significantly, increasing the operating cost, and the drastic changes in dynamic behavior will bring difficulties to ensure control accuracy, and may even cause the robot to become unstable.

In engineering practice and existing research, there is no workspace optimization and installation and debugging method that considers the dynamic load characteristics of robots

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