文档介绍：???? CAD??? QQ 36296518 ??___________ ??___________ ?┼??????? Construction Design of Painting Robot ?????xx ????? xxxxxxxx ??уъ? xxxxxxxxxxxxxx ????? xxxxxxxxxxxxxx ??? xxxxxxxxx ????? xxxxxxxxxxxxxx ??????? xxxx??? xx???????? xxxx??? xx???????? xxxxxxxxxxxxxxx ???? CAD??? QQ 36296518 ? ? ??????????┶????????а???????ф???????????????????л???┶?ъ??????????????????┶???????? ?????а?????┶????????????????????й?????????????а?????????????傡?? ??????┶??????学??????????????傡?????????????????к??????????????傡???????????????????????????????????????????????????傡????????????????о??????????????????????????????????┶?????????????????????????┶??????????????儈? ?????┶???????????????? CAD??? QQ 36296518 ? Abstract Nowadays most paint contains benzeneκ The benzene is very volatileθ toxic and carcinogenicκ It does harm to the workers heavily when the protection is absentκ So different kinds of painting robots appeared and developed greatlyκ A joint type painting robot was designed in this paperκ It had six degrees of freedomκThe wrist had three degrees of freedom and the other joints had three degrees of freedomκThe painting robot’s joints were driven by motorsκ Parallelogram structure was used in the robotκ The motor which was installed on the waist turning table droved the forearm indirectly through the parallelogram structureκ The structure avoided installing the motor directly on the joint to reduce the forearm’s weightκSo the burden of the motors which drive the upper arm and the waist were reducedκ Also this structure made the forearm realize balance itself and reduce the static torqueκ Aluminum alloy was used greatly in the robotθ so the weight of the robot was reducedκ Also the dynamic performance was improvedκ Keywords? painting robot? joint? structure design ???? CAD??? QQ 36296518 1 ????............................................................................................................. I ABSTRACT ......................................................................