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A new type of glaze spray manipulator is studied with a three-dimensional entity modal. The dynamic characteristics of its structure have been analysis by finite element method. The first ten other modes of vibration and their natural frequencies were obtained. It is found out that the frequency peak appears at 10Hz and the max deformation occurs in sixth order vibration mode by the observation of the end of spray gun on the manipulator. Furthermore, an improvement structure is provided to reinforce the stiffness and the thickness of rotation support at the manipulator’s wrist (the end joint). By test verification, it is proved that the max deformation is reduced after structure improvements

Dynamic Characteristics Analysis and Structure Optimization Study of Glaze Spraying Manipulator