Abstract
An approach to the design of robots for high performance in automative painting is described. The approach aims to optimizing performance within process constraints and tolerances of its parameters. It is shown that ‘exact’ analytic solutions in robot performance simulation have serious practical limitations. A semi-analytic approach that utilized kinematic solutions, dynamic modeling, servo-structure interaction modeling, and finite element analysis is shown to yield ‘realistic’ results. It is also shown that the accommodation of environmental specifics of the process is a critical factor in the attainment of high performance in painting robots.
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