Design and Functional Verification of a Robot Motion Sensor

Abstract

The outer wall of the rocket tank needs to be sprayed with multi-layer and multi-component thermal insulation coating. To ensure the thickness, uniformity and quality of the coating layer and improve the automation level, it is the best choice to use robot to perform the spraying operation. However, the intricate tank spraying conditions lead to high error rate and great difficulty in planning robot path in the complex structures. In order to tackle above-mentioned problems, this paper designs a robot-end target motion sensor, aiming to realize the robotic spraying movement guided by human direct contact, which transforms the human guiding motion into the robot's motion control quantity. Through the motion experiment, the motion sensor can recognize operator’s motion in the process of grasping the sensor and guiding the robot to move, and using the sensor can control the robot to smoothly run along the desired path.