DESIGNING A ROBOTIC COMPLEX  FOR PAINTING LARGE-SIZED METAL STRUCTURES

3. Voronezh State University of Forestry and Technologies Named after G.F. Morozov (Department of Automation of Production Processes, assistant professor)

Type:

Сonference article

DOI:

https://doi.org/10.58168/AIARMTOES2025_253-358

Published:

25.06.2025

Subject area:

621.793
62-529

Language:

Russian

Keywords:

robotic painting, large structures, Denavit-Hartenberg parameters, forward and reverse kinematics, KUKA KR6 900

Abstract and keywords

Abstract (English):
The article is devoted to the design of a robotic complex for painting largesized metal structures using the industrial robot KUKA KR6 900. The methods of solving forward and inverse kinematic problems based on Denavit-Hartenberg parameters, as well as algorithms for optimizing motion trajectories to minimize material consumption and improve coating quality are considered.

Keywords:
robotic painting, large structures, Denavit-Hartenberg parameters, forward and reverse kinematics, KUKA KR6 900

References

1. Drobina, E. A. Intellektual'naya sistema upravleniya robotizirovannym pokrasochnym kompleksom / E. A. Drobina // Innovacionnoe razvitie nauki i obrazovaniya : sbornik statey IX Mezhdunarodnoy nauchno-prakticheskoy konferencii : v 2 ch., Penza, 12 yanvarya 2020 goda. Chast' 1. – Penza: «Nauka i Prosveschenie» (IP Gulyaev G.Yu.), 2020. – S. 93-95.

2. Patent № 2104807 C1 Rossiyskaya Federaciya, MPK B05B 12/00, B05B 13/04, B05B 15/10. Ustanovka robota dlya okrashivaniya ob'ektov : № 96102587/25 : zayavl. 19.07.1993 : opubl. 20.02.1998 / T. Ekenberg ; zayavitel' Eybibi Tralfa Robot AS.

3. Patent № 2823697 C1 Rossiyskaya Federaciya, MPK B05B 12/14, B05B 16/00. Universal'naya okrasochnaya ustanovka : № 2022115009 : zayavl. 10.12.2020 : opubl. 29.07.2024 / P. Bortolotto, V. Il'o ; zayavitel' DZhEY-KO SPA.

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