Research Of Robotic Arm's Trajectory Planning For Deburring The Shell Of Sewing Machine

Deburring job is one of high-intensity repetitive jobs,it is easy to bring about physical and psychological harm to the workers as it creates dust,sparks,high-speed particles and vibration,it is also not an efficient way.With the development of robot technology and the increase of labor costs,it becomes a trend to use robotic arm to deburr instead of human.It is significant to do the research for the purpose of ensuring the angle,angular velocity and angular acceleration change smoothly and steadily,and reducing non-work action time,so that it can improve the efficiency and extend the service life of the robot arm.For the above purpose,the paper has done the following research.First,get the workspace that the robotic arm can reach,which ensure the possibility of deburring.Establish the mathematical medol of 6-robotic arm joint systems by D-H method.Use the link coordinate transformation to get its forward kinematical parse.Compare the Monte Carlo method and Latin Hypercube Sampling(LHS).According to the relationship of Cartesian space and joint space,design a way of LHS to analyse the workspace of robotic arm,show its point cloud atlas in Matlab by computer output device and the range of every coordinates.Verify the correctness and validity of result by simulating with matlab robotic tool box.Second,connect the various angle of each joint by smoothly B-spline interpolation,ensure smoothness of grinding job.Analysis the B-spline interpolation theory,introduce parameters to improve it.Analysis the impact of adjustable parameters to spline curves.In workspace,select a feature segment of grinding path,do trajectory planning by both B-spline interpolation and adjustable parameters B-spline interpolation and compare the consequence.Third,optimize the moving time of non-grinding route.For non-grinding path,connect the angle of each joint with 4-3-4 polynomial interpolation.Optimize the moving time of this path by genetic algorithm.For the improvement of genetic algorithm,put forward adaptive crossover probility,adaptive mutation probility and retention policies.Then verify the result by MATLAB.Finally,verify the trajectory planning on RX-90 system.Design the craft process for deburring the sewing machine,counting the parameters of craft.Make the algorithem come ture via VAL3 language on RX-90 system.