Research On Grinding Trajectory Planning Based On MOTOMAN UP50 Robot

There is an obvious tendency that robots being applied to grinding and processing because of rapidly developing scientific technology.The path planning of grinding path for industrial robot in grinding field is carried out.Because the 6 degree of freedom series robot will appear drastic jitter during the actual grinding process,it will make the machining accuracy of the robot is not high,especially for some workpiece with higher grinding precision,because of the violent jitter in the process of robot movement,the precision of the grinding machining is difficult to guarantee,and the qualified rate of the workpiece is low.A lot of waste of resources.The grinding path is analyzed based on MOTOMAN UP50 robot.The main contents of this thesis are as follows:(1)The forward and inverse kinematics model of the robot is proposed based on MOTOMAN UP50 robot through utilizing the connecting rod parameters and the transformation formula.(2)The reasonable trajectory planning is acquired via placing the path of robot in the joint space based on the theory of five square B spline interpolation.In the joint space coordinate system,the result of five square B spline interpolation is more excellent than cubic B spline interpolation through comparing the outcome of five square B spline interpolation and cubic B spline interpolation.(3)The 3D model of grinding workpiece is designed based on UG software.The cutter knife groove is milled on the model by number control machining module of the software.Some points on the path of the groove are extracted,changed to the end of the robot through a coordinate transformation,and calculated by applying the inverse kinematics equation of the robot.(4)The motion trajectory of MOTOMAN UP50 robot is obtained based on the simulation module of the robot toolbox of MATLAB by numerical simulation,which employs five square B spline interpolation,and is analyzed.