Shaped Small Workpiece Polishing Robot Trajectory Planning

As an important branch in the robot family, industry robot is an important research and development orientation. The trajectory planning and its control have been paid enough attention by researchers in the world. In the group of robots, the articulated robot is cared by designer and user for its broad work range, flexible movement and compact structure. This paper regards the 6-Dof mechanical arm ABB-IRB 2400/10 as research object. Under the deep understanding of the basis of its structure, the trajectory of the end-actuator of the robot was designed by the integrated application with coordinate transformation, Kinematics, and tajectory planning. To sum up, the main content of this thesis are as follows:1. Kinematic analysis of the polishing mechanical arm:In the basis of introducing the mechanical structure and parameters of the 6-Dof mechanical arm ABB-IRB 2400/10, kinematic equations were builded by using D-H method. Also, forward kinematics analysis and inverse kinematics analysis were carried out according to the Kinematic equations.2. Tajectory planning of the polishing mechanical arm:Research on the tajectory planning of robots. The paper makes a deep research on the Cubic-spline interpolating and A-spline interpolating of the joint-space planning. Planning a special surface and the English letter D in a space plane are the paper's tasks. According to the inverse kinematic equations of the polishing mechanical arm, the joint angles of the corresponding key points were solved.3. Virtual Simulation of the polishing mechanical arm:The 6-Dof mechanical arm ABB-IRB 2400/10 was regarded as research object, and its virtual prototype model was designed by using ADAMS software. Simulations were carried out and its results were campared under the situations of Cubic-spline interpolating and A-spline interpolating...