Research On Trajectory Planning Of Six-DOF Cutting-robot In Machining Complex Surface

Industrial robots are widely applied in industrial production,and their applications in machine processing have also been developing rapidly.Traditional machining of complex surface structures of workpieces usually requires digital machining centers.For the processing of complex workpieces with high accuracy and hardness,the five axis linkage digital machining center has obvious advantages.But for the machining of complex surfaces with low hardness and low precision,the processing cost of the workpieces is high with the use of the five axis digital machining center.The cutting and machining of complex surface can be realized easily through rational trajectory planning of industrial robot,which has shown its advantages in the processing of complex surface of soft materials.In this paper,the motion trajectory planning of the industrial robot is studied for the processing of complex surface of soft materials,and it is realized that the simulation of the machining of complex surfaces with six degrees of freedom robot.In this paper,the industrial robot trajectory planning is carried out with impeller as the processing object.Because the impeller is a representative mechanical part in the complex curved surface workpiece,the surface machining is difficult to achieve in machining.By controlling the motion of robot,it is universal to realize the processing of impeller.First,the D-H mathematical model of the cutting robot is established by using MATLAB software,and the coordinate system of each joint and the end effector of the cutting robot is established.The position and position of the coordinate system are analyzed and the coordinate transformation is carried out.The kinematics of cutting robot is analyzed,and the inverse algorithm of cutting robot is introduced,which lays the foundation for trajectory planning.Secondly,the Cartesian space trajectory planning algorithm for industrial robots is studied.In this paper,the three B spline interpolation algorithm is used to plan the trajectory with the characteristics of the impeller surface.In order to realize the smooth arc machining transition in the process of robot processing,the feedrate of the robot cutting tool is scientifically analyzed,and the machining speed is divided into three stages: acceleration,uniform speed and deceleration.In view of the need of processing efficiency,the three B spline interpolation algorithm is improved in the study.The improved algorithm realizes the robot's stable,rapid and accurate machining of the impeller spline curve.Thirdly,the trajectory and feed speed after planning are simulated and analyzed.Through the generalized inverse solution algorithm,each joint angle,angular velocity and angular acceleration curve are obtained.The end trajectory of the robot isobtained through the positive kinematics solution,and it are compared and analyzed that the joint data before and after the planning and the actual operation effect of the robot.The correctness of the improved algorithm and the planning trajectory is proved.Finally,in view of the simulation results,the software simulation is implemented in a specific model of the robot model using ADAMS software.The virtual prototype designed in ADAMS software can run stably and steadily,and achieve the goal of balancing arc path and no setback.In this paper,a robot with 6R cutting robot is used as a complex surface,and the impeller is used as the object.The simulation of the machining of the blade surface is carried out.The path planning of the path in the blade machining is carried out.By contrasting and analyzing the trajectory planning and ADAMS software simulation,it is proved that the trajectory planning algorithm and the motion planning scheme can make the robot run smoothly and high precision according to the given cutting path,which lays a foundation for the complex surface of industrial robot.