Author Topic: Kinematics of paint robots  (Read 794 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.

Offline PW3

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Re: Kinematics of paint robots
« Reply #2 on: October 07, 2018, 08:31:23 PM »
i am struggling now but 120-degree - yes, is in my mind confirmed from P200 hardware rj3 beyond, the wrist was 120-degree - and if i recall correctly, a 100 degree wrist on earlier paint models (P-150? until some point it also took the 120-deg? not sure, i think it may have been also an option), i might be able to confirm later

i'm not sure paint robot programming prioritises long, smooth and constant paths above any other applications, so I can't agree on that.