Abstract:In order to shorten spraying time in traditional manufacturing process of wind turbine blade, a single rail double cantilever single gun spraying robot was designed, and a robot automatic spraying method was developed for large complex wind turbine blades. Firstly, the threedimensional model of spraying blade was established, the spray trajectory was designed according to the spraying process parameters and model shape features, the 3D point data represented the key features were extracted from the track line, then the D-H parameters of the spraying robot were used to model and the kinematics and inverse kinematics were calculated,so the 3D coordinates under Descartes coordinates were translated into robot joint parameters. Finally, based on this, the simulation experiment was carried out by RobotStudio software to verify whether the spray work was successfully completed, and whether the interpolation point and track interval were reasonable.This research provides reference for the development of the automatic spraying device for large blades.