Kinematics Modeling and Analysis of a Novel Five-DoF Spraying Robot

In this paper, the kinematics modeling and analysis were carried out for a novel 5-degree-of-freedom (5DoF) spraying robot. Firstly, the forward kinematics model of spraying robot was derived based on D-H method, and the analytic solution of robot inverse kinematics was obtained by using the method of separating variables based on the method of inverse transformation. Secondly, the kinematics simulation model of spraying robot was established based on Matlab, and the simulation mechanical model of spraying robot was built in Matlab Simscape toolbox. The forward kinematics model of spraying robot was verified by the simulation comparison of the end pose of spraying robot. Thirdly, the inverse kinematics Simulink simulation model of spraying robot was established. The joint angle value results of inverse kinematics simulation were compared with the forward kinematics input joint angle values to verify the correctness of the inverse kinematics model. Finally, the workspace of spraying robot was analyzed based on the kinematics model, and the scatters diagram of the end effector of spraying robot was obtained. Establishing the kinematics model of the manipulator and analysing the working space lay the foundation for the trajectory planning and motion control later.