Structure Design And Trajectory Optimization Of Deburring Robot System For Aluminum Alloy Castings

Aluminum alloy castings have complex structures and much burr.The burr are still removed by manual work in the factory.But the artificial method causes the problem of low production efficiency and poor deburring quality.In this paper,aimed at those problems,the deburring system based on Motoman robot is studied.The deburring system are formulated by deburring task of aluminum alloy castings.The system runs mainly by the work of Motoman.The flexible fixture,conveyor and lift device are designed by the characteristics of the structures of aluminum alloy castings.the kinematics of Motoman robot are analyzed.Based on the coordinate transformation theory,the kinematics equation of the robot is established wth the D-H method.A method of the trajectory optimization is put forward for the target that the deburring time declines by analyzing deburring trajectory of the robot.The B-spline curve are used to fit trajectory of the robot and the optimization model are established.Programs and simulation are excuted by MALAB.the method are used to optimizate the trajectory of the deburring.Through the condition of the scope of reference tools,the trajectory is simplified.Based on VC++ and MOTOCOM32,communication between the robot and PC communication software was developed.The optimized trajectory are input to the robot control cabinet and the robot excuete deburring task.Deburring system can clamp parts with complex shapes through multi-position and realize deburring process.Productivity and machining precision are improved by the system.The application prospect of deburring system is broad.