A study on the dynamics of a novel seven degrees of freedom spray-painting robot with a telescopic forearm

Abstract

In this article, the dynamics of a seven degrees of freedom robot with a telescopic forearm for the spray-painting of large workpiece is investigated. A novel two-step inverse kinematic solving method that combines numerical and analytical approaches is proposed to solve the inverse kinematics of the seven degrees of freedom robot with two redundant degrees of freedom for spray-painting applications. Based on the kinematic model, the dynamic model is derived using the Newton–Euler method. For the dynamic parameter identification, the dynamic model is written in a linear form with respect to dynamic parameters. Considering the effect of the telescopic forearm on the dynamics of the robot, two novel performance indices concerning the inertial load and gravitational load in the joint space are proposed to evaluate the effect of the telescopic forearm on the dynamic load of the robot. Monte Carlo method is used to solve these two indices. This work is essential for the motion planning and control of the seven degrees of freedom spray-painting robot with a telescopic forearm.