Design and manufacturing of turnable painting robot arm for industrial applications

In this study, a total of six degrees of freedom (6DoF) robot arm with a rotary table was designed and manufactured in order to eliminate worker errors in the decorative or corrosion protection paint process of industrial mass-produced products and to ensure that the product outputs have certain standards. Denavit-Hartenberg method was used in the forward and inverse kinematic analysis of the robot arm. In the design and manufacture of the robot arm, servo motors with its own driver circuit are used in its internal structure. Thus, the feedback that enables the robot arm to go to the desired position is provided by the servo motor driver. The movements of the motors are provided by using Arduino Uno microprocessor. Since the control of servo motors is achieved by using PWM (signal width modulation) signals, axis movements are provided by connecting servo motors to PWM pins of Arduino Uno. Since there is a lot of variety in industrially produced products, the robot arm's trajectory of motion in the Arduino IDE has been realized through two sub-programs as learn and apply, so that the robot arm can adapt to the painting process in painting the products. The learning process was carried out by recording the movements of the application operator of the first product to be painted with the help of joysticks. The dyeing process was carried out by applying the recorded motion trajectory to the next products. Two processes are facilitated for painting with this robot arm. First, the product to be dyed is rotated using a rotary table, thus facilitating access to the back of the product. The second is that when the product changes, the operator can obtain the trajectory of movement for the new product by painting only one product. Thus, it is ensured that the operator does not need to perform a complex operation such as writing code.