Mechanism Synthesis and Workspace Analysis of a Spraying Robot for Airfoil

With the rapid development of civil aviation industry, spraying robot with large workspace is demanded imperatively in applications, especially for airplane components. In order to achieve the automatic spraying process of an airfoil, a hybrid spraying robot is designed. The work mainly includes mechanism synthesis and its workspace analysis. Mechanism synthesis starts from the bionic serial mechanism, and then a hybrid mechanism made up with multiple parallel four-bar linkages is synthesized in order to meet the explosion proof requirement in combustible environment of spraying process. According to the structure of the spraying robot, forward kinematics is conducted and the reachable workspace of the robot is analyzed based on the Monte Carlo method.