Author Topic: Kinematics of paint robots  (Read 626 times)

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Offline Vlad222

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Kinematics of paint robots
« on: January 23, 2018, 04:42:49 PM »
Hi all,

Why do paint robots have different kinematics (angle between 4 and 5 axes is 45 degrees (not 90 deg).

Is it for avoiding singularities?

What advantages and disadvantages of this kinematics? Why does this kinematic scheme used only for paint robots?
« Last Edit: January 23, 2018, 09:10:33 PM by Vlad222 »

Offline SkyeFire

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Re: Kinematics of paint robots
« Reply #1 on: January 24, 2018, 11:18:28 AM »
It is primarily to avoid singularities, as I understand it.  Paint robots prioritize long, smooth, constant-velocity plans much more than most industrial robots, as opposed to strength and speed.

The paint-style wrist (I've never heard the technical term for this type of wrist), as I understand it, is slower, weaker, and more mechanically complex (and as such, more prone to wear and/or mechanical failure) than the "normal" triple-roll wrists.

One other advantage the "paint" wrists have is that they can be completely hollow through the center, which some robots (Reis laser-welding robots are one example, IIRC) make use of to avoid running complex hose/cable bundles down the outside of the arm.