RoboPainter -一个详细的机器人设计内墙绘画

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO) Pub Date : 2015-06-01 DOI:10.1109/ARSO.2015.7428214

M. Sorour

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引用次数: 10

摘要

无论是发达国家还是发展中国家，目前对画家的需求都很高，在不久的将来也可以预见。为满足这一需求，本文提出了一种全功能室内涂装机器人的详细计算机辅助设计(CAD)模型。除了装饰墙画外，RoboPainter还能够执行全尺寸的墙壁天花板绘画。8自由度移动机器人结构由安装在2自由度差动基座上的6自由度喷漆臂组成。与现有文献相比，本设计在机器人总质量和绘制率方面取得了一些成果。提出了详细的动力学模型参数，以便在机器人运动控制方面进一步增强。

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RoboPainter — A detailed robot design for interior wall painting

High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees of freedom (DOF) mobile robot structure consists of a 6DOF spray painting arm mounted on a 2DOF differentially driven mobile base. The design presented endows several achievements in terms of total robot mass and painting rate as compared to existing literature. Detailed dynamic model parameters are presented to allow for further enhancement in terms of robot motion control.

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来源期刊

2015 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO)

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