Method and device for determining installation position of spraying robot based on joint drive load

Abstract

The invention discloses a method and device for determining the installation position of a spraying robot based on joint-driven loads. The method includes: determining the reachable workspace of the spraying robot according to the kinematics model of the robot and the range of motion angles of the joints; The dynamic evaluation index of the load size; according to the shape and size of the working surface of the workpiece to be sprayed and the distance between the end effector of the robot and the working surface, determine the task workspace range of the spraying robot, and select multiple positions evenly within the range , take the average value of the dynamic evaluation index corresponding to each point as the evaluation index representing the overall load level of the area; within the reachable workspace, find the lowest point of the overall load evaluation index, and determine the spraying robot and the workpiece to be sprayed by coordinate transformation relative installation location. The method can reduce motion precision fluctuations caused by drastic load changes and ensure the surface coating quality of the automatic spraying system.

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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