High demand for painters is required nowadays and foreseen in the near future for both developed and developing countries. To satisfy such demand, this paper presents the detailed computer aided design (CAD) model of a fully functional wall painting robot for interior finishes. The RoboPainter is capable of performing full scale wall-ceil painting in addition to decorative wall drawings. The 8 degrees of freedom (DOF) mobile robot structure consists of a 6DOF spray painting arm mounted on a 2DOF differentially driven mobile base. The design presented endows several achievements in terms of total robot mass and painting rate as compared to existing literature. Detailed dynamic model parameters are presented to allow for further enhancement in terms of robot motion control.

翻译：目前发达国家和发展中国家对油漆工的需求量很大，且预计未来仍将如此。为满足这一需求，本文提出了一种用于室内装修的全功能墙面喷涂机器人详细计算机辅助设计（CAD）模型。该RoboPainter不仅能进行全尺寸墙面-天花板喷涂，还可实现装饰性墙面绘图。其8自由度（DOF）移动机器人结构包含一个安装在2自由度差动驱动移动基座上的6自由度喷涂臂。与现有文献相比，本设计在机器人总质量与喷涂速率方面取得了多项突破。本文给出了详细的动力学模型参数，以便在机器人运动控制方面进行进一步优化。