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

Abstract

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.