面向汽车修理厂的汽车补漆应用需求，该文提出一种由3自由度并联机构、旋转关节和移动小车组成的喷涂机器人。基于运动学模型，利用虚功原理推导了3自由度并联机构的动力学模型。考虑动力学模型中重力项影响，构造面向动力学性能波动评价应用的波动衡量惯性矩阵，提出动力学性能波动评价的全域指标，并通过不同几何参数和惯性参数下机器人驱动力矩变化来验证评价指标的有效性。动力学性能波动指标可以直观地反映机器人在工作空间中动力学波动情况，可以应用于机器人优化设计与控制。
A stiff yet flexible paint spraying robot with a 3-DOF parallel mechanism and a rotating joint was mounted on a mobile platform to facilitate automobile painting in a repair shop. The kinematic method was used to develop a dynamic model of the 3-DOF parallel mechanism using the virtual work principle. The inertia matrix including the gravitational term was then used to evaluate the dynamic fluctuations with a global index defined to quantify the performance fluctuations. The effectiveness of the evaluation index was verified by the differences in the robot driving forces for various geometric and inertia parameters. The dynamic performance fluctuation index reflects the spatial fluctuations of the robot in the workspace and can be used to optimize the robot design and control.
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