2008Optimal Trajectory Planning of Spray Manipulator for Furniture Surface Painting.pdf

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2008Optimal Trajectory Planning of Spray Manipulator for Furniture Surface Painting.pdf

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2008Optimal Trajectory Planning of Spray Manipulator for Furniture Surface Painting

918 978-1-4244-1734-6/08/$25.00 c? 2008 IEEE three rules which determine and establish every coordinate system: 1) for ai from 0 to n-1 locate the axis Zi on the axis of the artichlation i+1. 2) locate the axis Xi in the common normal line of the axis Zi-1 and Zi ,and the axis Xi point to the direction which leave from the axis Zi-1 . 3) locate the axis in such a way that a right-hand system is formed with the axis Xi and Zi. iY 2.2 The parameter of robot manipulator According to the request of technology and working conditions of furniture coating, we structured a robot manipulator for furniture coating whose D-H coordinate system is shown in fig 2. 1iz iz id i 1ix ix i iY1iY ia Fig 1. Physical meaning of the Denavit-Hartenberg parameters. Robot manipulator is a institution which is constituted with links and joints. The main composition is base, five rotational joints, five links and terminal manipulatorapplicator. Link 1 which is installed on the base by joint1 can adjust the rotational direction of the robot manipulator around the base. Joint 2 with link 2 can adjust the vertical movement distance of applicator. Joint 3 with link3 and joint 4 with link 4 can adjust the level direction of applicator. Joint5 can adjust the applicator direction relatived to the future surface. Therefore, these kinds of robot manipulator which can move freely in the gived three dimension space have five kinetic freedoms. It belongs to owe freedom robot, we name the robot manipulator as “myrobot” .the specific parameters are showed on table 1. We present the goal and designing situation that the robot manipulator expects. In the paper, the robot manipulator designed which is applied for furniture coating need to extend freely from level and vertical direction and move along some inclined planes in three dimendions. Every joint determines some kinds of position posture to complete the task scheduled in advance. The applicator is installed on the ext