bot into an equivalent serial one.Therefore, D-H method is adopted to investigate the functional relationship between the position/posture of the sprayer and the driving variables. After that,MonteCarlo method is usedto express the dexterous workspace of the spraying robotin 3D space. c) This thesis will also establishthe deposition model of coating materialsin order to regulate processing parameters. Forthe workpiece to be sprayed, a trajectory is planned. d) Following thetrajectorywe planned, the driving force/torques are derived after derivingthe Lagrange equations of the spraying robot. The spraying robot proposedin this thesis changed the layout of the actuators. All the motors are located far away from the sprayer, which helps to increase the safety
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