Structural synthesis of super-redundant mechanism is a key to design of painting robot for S-shape duct. Based on the principles of modular structure design, the painting robot for S-shape duct falls naturally into three separate control and design components: a moving platform, a locating mechanism, and a painting manipulator. The moving platform consists of a robot body, wheels, gasbags for position adjustment, and screw jacks. The 3PR-type serial mechanism is adopted for location. The super-redundant 3P7R-type serial mechanism is used for the painting manipulator. The restriction of the distance between connecting rods and the axis of the duct is employed to control self-motion of the painting manipulator for joint trajectory planning. Experiment result shows that minimal distance between robot joints and duct interior is 18mm and that average dynamic accuracy is ±6.8mm, which satisfies the working requirements.
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