摘要现在制造业中，随着生产技术的提高，喷涂机器人发挥着越来越重要的在作用，其应用的范围也越来越广泛。喷涂机器人的应用在未来有极大的前景，目前，中国市场上的自动喷涂机器人大多依靠进口。因此，中国迫切需要克服喷涂机器人的关键技术，提升竞争力。因此要加快实现喷涂机器人和自动化设备的技术突破，加快我国工业自动化的进程。本论文以六自由度喷涂机器人为研究对象，对其结构与驱动系统进行研究，基于有限元理论，运用了静力学与动力学相关知识，对其进行了力学分析、静力校核和仿真，主要内容如下：（1）根据喷涂机器人的工作特点和设计要求，确定喷涂机器人的相关技术参数和结构设计方案。本文利用CAD和三维建模软件Solidworks进行绘图，并初步设计了六自由度喷涂机器人的各个零部件。（2）根据喷涂机器人不同驱动方式以及电机与减速器的参数计算，并根据参数选择电机与减速器，确定最终传动系统。（3）运用有限元软件和结构强度理论对喷涂机器人的关键部位进行了静力学特征分析，分析了关键部位的变形情况和应力分布。（4）在静力校核的基础上，优化了关键部位的机械强度，再次对结构进行了静力学分析，并对比了优化前后的分析结果。关键词：喷涂机器人；静力校核；结构设计TheStructureDesignof6-DOFSprayingRobotAbstractThespraypaintingrobotismainlycomposedofrobotbody,computerandcorrespondingcontrolsystem.Ituses5or6degreesoffreedomjointstructure.Thearmhaslargermotionspaceandcandocomplextrajectorymotion.Thewristhas2~3freedoms,anditcanmoveflexibly.Thewristofamoreadvancedpaintingrobotadoptsflexiblewrist,whichcanbeflexedinalldirectionsandcanberotated.Itsactionissimilartothatofaman'swrist.Itcaneasilyreachtheinsideoftheworkpiecethroughsmallerholesandsprayitsinnersurface.Thepaintsprayingrobotisgenerallydrivenbyhydraulics,whichhasthecharacteristicsoffastactionspeedandgoodexplosion-proofperformance.Itcanbetaughtbyhandholdinginstructionorpointnumberdisplay.Spraypaintingrobotsarewidelyusedinautomobile,instrument,electricalappliances,enamelandotherprocessproductiondepartments.(1)Accordingtotheworkingcharacteristicsanddesignrequirementsofthesprayingrobot,therelevanttechnicalparametersandstructuraldesignplanofthesprayingrobotaredetermined.Inthispaper,CADand3DmodelingsoftwareSolidworksareusedfordrawing,andeachpartofthesixDOFsprayedrobotispreliminarilydesigned.(2)Accordingtothedifferentdrivingmodesofthesprayingrobotandthecalculationoftheparametersofthemotorandretarder,andselectthemotorandthereduceraccordingtotheparameters,thefinaltransmissionsystemisdetermined.(3)Thestaticcharacteristicsofthekeypartsofthesprayingrobotareanalyzedbyusingthefiniteelementsoftwareandthestructuralstrengththeory,andthedeformationandstressdistributionofthekeypartsareanalyzed.(4)Onthebasisofstaticchecking,themechanicalstrengthofthekeypartsisoptimized,andthestaticsanalysisofthestructureiscarriedoutagain,andtheresultsoftheanalysisbeforeandaftertheoptimizationarecompared.KeyWords：SprayingRobot；StaticCheck；StructuralDesign目录摘要.....................................................................................................................................IAbstract......................................................................................................................................II引言...................................................................................................................................151绪论........................................................................................................................................161.1课题研究背...
