Research on Painting Robot Manipulator for Irregular Components in Reproducing Cartridge
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 robot’s trajectory planning principle.
Dongye Sun, Wen-Pei Sung and Ran Chen
Q. Q. Chen et al., "Research on Painting Robot Manipulator for Irregular Components in Reproducing Cartridge", Applied Mechanics and Materials, Vols. 121-126, pp. 1358-1362, 2012