[Retracted] Motion Trajectory Planning and Design of Material Spraying Service Robot

Table 1

Connecting rod parameters of spraying robot.

i			di		Connecting rod parameter value
1	0	0°	0	(0°)	d 2 = 201.5 mm
2	d 2	−90°	0	(0°)	L 1 = 550.0 mm
3	L 1	0°	L 2	(−90°)	L 2 = 542.0 mm
4	0	−90°	0	(0°)	d 1 = 165.0 mm
5	0	90°	0	(0°)
t	0	−90°	d 1	0°