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

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.