The Trajectory Optimization And Structural Topology Optimization Design Of The Cotton Barrel Changing Robot

In the face of the gradual weakening of the population dividend and the demand of market development, industrial robots have been active in home appliances,logistics and other industries in recent years, and promoted the development of various industries. In the face of the seasonal shortage of labor force in the cotton industry and the high temperature, high humidity and high noise workshop environment, it is of great significance to develop a robot that replaces the workers to complete the replacement and handling of the cotton drums to improve the automation level and the upgrading of the industry structure. The research of the literature indicates that the technical principle for solving the automatic replacement and handling of cotton barrel has not been reported. In order to change the present situation, a composite robot composed of AGV car and the cotton barrel changing robot was designed and developed, and the robot body structure and control system design, optimization trajectory, front and rear arm topology optimization design and robot performance were carried out.According to the production planning of cotton spinning workshop and the technical requirements of robot, the structure and composition of the cotton barrel changing robot were determined, and the key components such as the waist, the arm,the wrist and the end actuator were designed. According to the design function and requirements of the robot system, the overall scheme of the control system was given,the servo drive principle and gain setting were expounded in detail, the controller, the driver and the various sensors were selected,the design of electrical control system was completed.In order to study the trajectory of the cotton barrel changing robot, he kinematics model was established by using the D-H algorithm based on the kinematics theory of the robot,and the kinematic transformation matrix was calculated to solve the positive and negative solutions of the kinematics. Based on the theory of trajectory planning, the end trajectory was optimized by using MATLAB simulation software, and the end trajectory, the velocity and acceleration of each joint were analyzed according to the optimization results. In order to further verify the stability of the trajectory, the optimized trajectory was used as the drive to do dynamic simulation by using ADAMS simulation software, the force and moment of each joint were analyzed, and site trajectory can be calculated according to the optimized trajectory.In order to realize the lightweight of the mechanical body, the topology optimization method was used to design the front and rear arms based on the theory of structure optimization and topology optimization method. The static analysis of the front and rear arm was carried out by using ANSYS software combined with the working condition of the robot, and obtain the stress and deformation nephogram under the dangerous condition, which is particularly important to the design of the first prototype. The improved design of front and rear arms was carried out by using the topology optimization method, and the improved structure was analyzed and validated, which provides technical support for the follow-up product development and provides reference for the similar technology product design.By setting up the test prototype,the servo gain and motion parameters were determined after continuous debugging operation according to the debugging principle from low speed to high speed and no load to load. The rationality of the end trajectory and the position accuracy were tested, the test results show that the system is running fast, smooth, accurate positioning, and achieved cotton bucket replacement handling operations.On the basis of consulting a large number of domestic and foreign relevant technical literature, the design scheme of the cotton barrel changing robot was proposed according to the needs of the actual project, and the mechanical body and control system were designed. The trajectory was optimized based on the theory of kinematics and trajectory planning. The lightweight of of the front and rear arms was realized by using the topology optimization method. The performance of the system was debugged after the actual installation and operation, and achieved cotton bucket replacement handling operations, which solved the problem of "labor shortage",created the possibility for the structural transformation and upgrading of textile industry and has a certain guiding significance in engineering practice.