Trajectory Optimization Of A 4-Axis Robot And Its Application In Stamping Automation

With the continuous development of industrial automation,the labor-intensive manufacturing industry begins to adjust to the pace of industrial restructuring,and achieving the state of robot instead of artificial operations.In this paper,the production of small and medium-sized stamping enterprise is selected as the background,the characteristics and requirements of stamping automation production are analyzed.With the 4-axis series industrial robot as research object,in order to improve stamping production efficiency,combined with robot kinematics and kinetic theory,the time-optimal trajectory planning of the 4-axis series industrial robot is studied under the constraint condition.In this paper,based on the synthesis of stamping automation technology and industrial robot technology,the process and field conditions of single-machine single-process production from blanking process were taken into consideration.The stamping production of single machine single process was carried out a detailed demand analysis by the combination of stamping automation and industrial robot application.Based on the knowledge of robot theory,D-H method was used to establish the connecting rod coordinate system of a 4-axis robot,and the joint transformation matrix and kinematics equation were established.The Newton-Euler method was used to research the dynamics of the robot,and the dynamic model of the robot was established.Then,according to the automatic loading and unloading process of the robot,quintic polynomial interpolation method was used to fit the joint displacement trajectory.The shortest cycle time of the stamping process was the optimation objective,and the trajectory optimization mathematical model was established with the constraints of robot driving force,the driving velocity and the process.The dichotomy method was used to optimize the calculation,and the single cycle time-optimal trajectory of each joint was obtained.The motion of each joint was simulated by ADAMS software.Finally,the comparative experiment was carried out with the experimental platform of PLC control,and the working efficiency of the robot was analyzed.The results show that the efficiency of the robot in stamping process can be further improved by optimizing the time of the robot motion.The single cycle time-optimal trajectory planning method is easy to realize and the robot control effect is good.It has the value of popularizing and applying in the automatic production of stamping.