Trajectory Optimization Of Flexible Polished Industrial Robot For Complex Surfaces

Under the background of the Industry 4.0 era,since the implementation of the "Made in China 2025" strategy,the manufacturing industry of China has developed rapidly,and "machine substitution" has become the general trend.However,in most of China's low-end labor-intensive small and medium-sized enterprises,industrial robots have not yet gained popularity,especially in the watch case polishing industry.This article takes the self-developed complex curved flexible polishing industrial robot prototype as the research object,and studies the trajectory optimization problem of the developed prototype to improve the polishing quality of the polishing industrial robot prototype.According to the mechanical structure of the flexible polishing industrial robot prototype with complex curved surfaces,the DH parameter method is used to establish the coordinate system of the polishing industrial robot prototype.The kinematic model of the prototype is obtained.The closed solution method is used to obtain the positive solution of the polishing industrial robot,and the polishing industrial robot is further solved.Inverse solution.The trajectory planning methods for the polishing industrial robot prototype in the joint space of cubic,quantic,and high degree polynomials are studied.The quintic B-spline fitting curve method is mainly studied.For specific polishing trajectories of polishing industrial robots,three,five-degree polynomial interpolation planning and five-degree B-spline fitting curve planning were performed,and the trajectory kinematics curves obtained by three trajectory planning methods were simulated using Matlab.It was found that the kinematic curve of the joint trajectory planned by the fifth-order B-spline fitting curve fitting method runs more smoothly,and it is determined that the fifth-order B-spline fitting curve method is used for trajectory planning.The working principle of the NSGA-? algorithm is studied.The time optimizationand the minimum impact are used as the optimization objectives.The time optimization objective function and energy optimization objective function of the polishing industrial robot are established.The total objective function is constructed by weighted summation.The flexible polishing of complex surfaces is introduced.Industrial robot prototype constraints.Penalty function method is used to deal with the kinematic constraints of each joint of the robot.For specific polishing trajectories,Matlab is used to solve the optimal time interval.The results show that the impact trajectory curve of each joint is compared with that before optimization.There has been a noticeable improvement.A three-dimensional model of a polishing industrial robot prototype was established,and ADAMS was imported.The trajectory obtained after multi-objective optimization and five B-spline fits was simulated and verified.The results show that the optimized trajectory meets the constraints of the joints and optimizes the multi-target.The effect is better.