Stability analysis of a novel mobile spray-painting robot for touch-up painting in vehicle repair plant.

The stability of a mobile robot is important because it may tip over. This work proposes a hybrid spray-painting robot with high stiffness for touch-up painting in vehicle repair plant and investigates its stability. The distribution of the center of mass is studied based on the kinematics model, and the static stability of the mobile spray-painting robot is analyzed. A micro element method is proposed to accurately calculate the inertia force and the action point of each link in the robot. Zero-moment point (ZMP) is calculated, and the dynamic stability of the mobile robot is assessed using the ZMP criterion. The smallest reasonable width of AGV is obtained for the lightweight design of the robot. The static and dynamic stabilities of the mobile robot are compared with a traditional series mobile robot with the same workspace. Several case studies are conduct by ADAMS to verify the theoretical analysis. [ABSTRACT FROM AUTHOR]