{'fraction_non_alphanumeric': 0.02556237218813906, 'fraction_numerical': 0.007157464212678937, 'mean_word_length': 5.1572327044025155, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Mechanism Configuration of Super-Redundant Robot

Structural synthesis of super-redundant mechanism is a key to design of painting robot for S-shape duct. Based on the principles of modular structure design, the painting robot for S-shape duct falls naturally into three separate control and design components: a moving platform, a locating mechanism, and a painting manipulator. The moving platform consists of a robot body, wheels, gasbags for position adjustment, and screw jacks. The 3PR-type serial mechanism is adopted for location. The super-redundant 3P7R-type serial mechanism is used for the painting manipulator. The restriction of the distance between connecting rods and the axis of the duct is employed to control self-motion of the painting manipulator for joint trajectory planning. Experiment result shows that minimal distance between robot joints and duct interior is 18mm and that average dynamic accuracy is ±6.8mm, which satisfies the working requirements.