Research On Trajectory Planning Of Polishing Robot

Polishing is a common mechanical finishing.Polishing can not only increase the smoothness of the polished surface,but also improve the polishing quality,and reduce the partial stress concentration.Traditional manual polishing process is time-consuming,laborious,and more difficult,prone to mistakes.In contrast to this,the robot polishing system can effectively reduce polishing time,thereby reduces the overall processing time to meet customer demand in today's society for rapid processing.And intelligent robot polishing system can reduce errors under the premise of the quality of polishing.So research on robot polishing system is of great significance.Robot manipulator's parameters in the working process,like displacement,velocity and acceleration are called the trajectory.Usually we call the problem-solving technique as planning,the specific method for the initial state of a particular issue as a starting point,through a series of steps(or operator)to solve problems.Trajectory planning is a vital part of the robot design and development.It is the base of the robot system to work,and play a decisive role on the efficiency of the system.In this paper,we take polishing robot as the research object,based on the technical requirements,build the PUMA560 robot kinematics modeling on the use of knowledge about robot coordinate transformation,kinematics,and trajectory planning and so on.Meanwhile,we use a variety of CAD and CAE software to make trajectory planning and simulation of the actuator.Firstly,we make a process analysis for our parts,and thus design and plan the parameters required for processing.Then build the robot kinematics modeling and solve kinematics positive and inverse problem.Matlab software is used for different trajectory planning method.Then,using Solidworks to build three-dimensional robot model of PUMA560,and import the model into Adams for kinematics simulation and analysis,respectively,in the joint space and in Cartesian space planned trajectory of polishing robot's end actuator to simulate the different surfaces' polishing process.And finally get graphs showing the angular displacement,the angular velocity and angular acceleration of each joint in the polishing process and analyze that.This paper finally complete polishing robot's trajectory planning,and simulate the processing on the basis of Adams simulation software,verify the correctness and feasibility of the trajectory planning method.Results show that the Cartesian space trajectory planning method can be widely applied to other contains surface polishing of the parts,by the way of polishing robot trajectory planning,and achieve the desired purpose.