Papers by Author: Lin Zhang Cheng

Abstract: As an advanced painting equipment, the spray-painting robot has been widely used in product painting. For the shape complexity of modern product, how to make the coating uniform has become an extremely important problem. In this paper, based on Z-map theory and the free surface’s CAD model, the free surface is fragmented into polyhedron model, and then the coordinate information and normal vectors of the painting node under the condition of equidistance painting are exacted with MATLAB program. At the end, with those coordinate information & normal vectors, the spray gun path for a random free surface could be generated and simulated automatically. Finally, based on the 3D model setup with Pro/E software, the spray gun path for a car body’s top area is generated and simulated.

Abstract: Based on the theory of graph representation, links of the oblique crossing 3R wrist are devided into carriers and carried links, and contributions of the carried links to the generaliazed inertia forces can be divided into two parts. The first part is due to the motion with the carriers and the second part is due to the motion relative to their carriers. At the same time, the concept of virtual link is introduced to calculate the first part and carriers’ generaliazed inertia forces. The second part is derived with Lagrange Equation. At the end, an efficient and systematic dynamic equation in which the coupling effects of carried links can be identified individually and systematically, is developed. This method provides the basis for the design of driving chains and leads to a computer automated analysis for other geared robotic mechanisms.

Abstract: Based on the method of vector analysis, the mathematical model of squeegee roller for twist drill groove was setup. At the same time, the parameter design and simulation software for the profile curve of drill groove squeegee roller was developed with Visual C++ Language. The simulation results showed that the mathematical model of squeegee roller was right, and the design accuracy and efficiency of the twist drill squeegee roller was improved greatly.

Abstract: Based on the study of 3R oblique non-spherical wrist and the analysis of the NC machine spindle’s function, the concept of a oblique crossing 3DOF NC spindle was offered and the 3D model of this 3DOF NC spindle was made with Solidworks software. At the same time, the kinematics model of this 3DOF NC spindle was setup with D-H parameter method and the kinematics & workspace of this 3DOF NC spindle were analyzed and simulated. Simulation results indicated that this 3DOF NC spindle, with compacted-structure, low inertness and considerable flexibility, could be in any gesture in the 3D space, and could expand the work range of the NC machine.