Research on Painting Robot Manipulator for Irregular Components in Reproducing Cartridge

摘要：

　　In order to implement the surface painting automation of irregular components of reproducing cartridge,a painting robot manipulator with four degrees of freedom is carried out in this paper.Kinematics forward problem and inverse problem of the manipulator are firstly formulated and then painting trajectory is described by adopting the structure of endpoints and line-style.Furthermore,painting trajectory is generated in both joint space and Cartesian space according to robots trajectory planning principle.

关键词： Reproducing cartridge Painting robot manipulator Kinematics analysis Trajectory planning

作者: Qianqian Chen Xiuting Wei Jianghai Lin Gang Li

作者单位: Shandong Provincial Key Laboratory of Precision Manufacturing and Non-traditional Machining,Shandong Shandong Mechanical Design and Research Institute, Jinan, Shandong, 250031, China

会议类型: 国际会议

会议名称: the Second International Conference on Frontiers of Manufacturing and Design Science(第二届制造与设计科学国际会议(ICFMD 2011))

会议地点: 台湾

会议语种:英文

页码: 1358-1362

在线出版日期: 2011-12-11（万方平台首次上网日期，不代表论文的发表时间）