Design and kinematic performance analysis of a ship shell plate spraying manipulator

In order to solve the problems of low efficiency and pollution of the existing artificial ship outer plate spraying, a parallel spraying manipulator for ship outer plate is presented and analyzed. The structure analysis of the 3-DOF (degree of freedom) spraying manipulator is carried out using screw theory, and the mechanism diagram and virtual prototype are given. The position of the spraying manipulator is studied, and the expressions of the inverse position solution and the forward position solution are obtained. The Jacobian matrix is developed velocity analysis, and three singular configurations of the spraying manipulator are analyzed. The rotation ability of the gun of the spraying manipulator is described and the reachable workspace is drawn. Results show that the proposed manipulator can accomplish more flexible output trajectories than traditional spraying operations, which has higher spraying efficiency and can save more labor.