Trajectory Planning Of Wheel Handling Robot On Catenary Suspension Painting Line

With the improvement of living standards,the automobile has become the people's most common transportation, the demand of the wheels hub is gradually increasing, and the production conditions of the wheel hub can not meet the need of production.At the same time, with the development of science and technology, the industrial robots gradually come into people's vision, many domestic companies have begun to introduce robot production line.The subject of this study is aimed for wheel hub spraying process. In this paper, using the wheel handling robots instead of workers to complete the work of handling and hanging the wheel hub to the hanging hook chain painting line, and for handling suspension of the wheel for the spraying process the paper have done a series of research work is as follows:First, according to require the robot to replace the manual to complete the transportation wheel, and when suspension to the spraying to achieve the best quality, it is required that while the wheal suspension to hook,wheal hob is located just above the valve position. Firstly, the paper designed the special wheel handling robot holder.The holder according to the functions divided into three parts: the clamping parts, valve hole positioning part, and a wheel rotating part and part of blessing to complete the automobile wheel hub for holding function, part of the positioning hole of a valve through the camera visual part of the complete valve hole location analysis. After by rotation points through breath gate hole positioning part return information will valve hole are rotated to a predetermined position.Second, if you want to use the robot complete grasping hanging wheels, the paper must control the handling robots moving wheels, the next the paper build kinematics modeling of wheel handling robot. The paper used motion spin-or theory to establish kinematics forward and inverse solution mathematical models of the robot. While wheel handling robot belongs to the redundant robot, the paper have done some optimization algorithm of the robot joint Angle in inverse selection, and planning of the robot work space for the behind simulation analysis.Third, Analysis the whole process of wheel hanging robot to grasp wheel and to hand wheel step by step. And the paper have done the trajectory planning of the process of the work that handling robot to complete grasp wheel and to hand wheel.And after the paper completed the trajectory planning, the paper used the Robotic Toolbox in the Matlab established the model of the robot body and the general simulation and detailed analysis on the planning of the process.Fourth,the paper build the Wheel handing robot and the actual physical platform.what's more, the paper introduced the robot platform and control system.And then the paper program for the control system of the wheel handing robot through the robot programming software OtoStudio based on the trajectory planning of the robot.At last the paper experiment of robot handling, hanging wheel work on the basis of the allowing of the wheels handing robot physical platform.