Multiple Degrees Of Freedom Manipulator For Car Sunroof Detection

According to the present condition of the automobile skylight sealing test, changed the past artificial detection processing mode in this paper, with the six degrees of freedom robot ES165 D as the carrier, studied the five times of B-spline paths trajectory planning in the joint space to automatically detect automobile skylight sealing and found the least time optimization method in this process under the condition that ensure the robot continuous smooth movement.Firstly, introduced the automobile skylight sealing detection platform basis of ES165 D robot.Adopts the way of questionnaire, obtain each testing point sealing degree, the frequency on the car skylight, thus determining the number and the location of points need to detect on the skylight. Through the analysis of the robot motion, established the robot kinematics model. In order to realize the robot flexible transform in cartesian space and joint space, we solved the inverse kinematics equations of the robot.Secondly, through data acquisition and test, record the constraint of kinematics parameters. Established robot model with 3D software CATIA and five times B-spline curve track continuity and smoothness is verified with simulation software ADAMS, by judging the change tendency of the curve, deduce the presence of mutations in the robot run time. Through kinematics parameters curve changes in the simulation, we can put forword the feasible of trajectory planning method in this paper. Take advantage of this method in actual production, the online tracking control technology can be better implementation with the method.In the end, improved the traditional genetic algorithm, according to the evolution of elite reserved strategy, given priority to the adaptive operator and process, selecting the best individual iterative calculation then use MATLAB to carry on the real number coding. Ensure the the global searching capability with time optimal algorithm in this paper, convergence rate is also improved. Constraints in the movement parameters, using the improved adaptive genetic algorithm to seek the optimal solution, and simulat e the model in ADAMS.The algorithm provides a theory support for car skylight detection time optimal trajectory planning with robot.