Research On Trajectory Planning Technology Of Off-line Programming Of Industrial Robot Used For Polishing Based On Three-dimensional Graph

Since less research on trajectory planning technology of off-line programming of industrial robot used for polishing based on three-dimensional graph,and lack of practical application in polishing,and the off-line programming process is cumbersome and the degree of automation is not high enough,aiming at the trajectory planning technology of polishing industrial robot off-line programming based on 3D graphics has been studied in this paper:Focusing on trajectory planning,theoretical analysis and overall planning of off-line programming,and calculation and verification of industrial robot kinematics has been completed,the trajectory planning techno logy used for polishing based on the three-dimensional graphics of the workpiece has been researched further,polishing tool and workpiece coordinate system have been calibrated,the trajectory planning technology has been applied in practice,and experimental analysis and software development of kinematics,trajectory planning,tool/workpiece calibration and other key technologies have been completed,from which off-line programming process is simplified,the automation of main process and polishing practical application is achieved,and the threshold for off-line application of small and medium enterprises is reduced.Automatic belt polishing system integrated ABB 6R industrial robot(4400-60/1.96)is selected as the research object,in which polishing workpiece is a faucet with free-form surfaces and it is clamped by the robot,the main research contents are:1)Based on the analysis of the spatial pose theory and the RAPID program,the off-line programming process and function of industrial robot applied to polishing have been planned.2)After analyzing the structure of 6R industrial robot with parallelogram,the modified D-H kinematic model has been established without increasing the number of homogeneous conversion matrices,positive and inverse kinematics have been calculated and verified,which proves the correctness and validity of the kinematics calculation.3)Polishing trajectory has been planned based on the secondary development of SolidWorks and STL format 3D graphics,the "surface curve" tool was used innovatively to generate polishing line efficiently,and the concept of "Maximum Parallel Feed Distance " was introduced to optimize discrete points in the former way;the method of "Non-repetitive Vertex Table" and " Surround Vertex Surfaces' Index Table" were proposed to achieve efficient topology reconstruction and feature recognition,and "Vertical Step Method" was used to generate intermediate control points,the curve fitting was used to connect control points into a smooth fit grinding path in the latter way.At the same time,the post-processing software has been developed,which can realize the automatic conversion of the trajectory to the industrial robot program.4)The industrial robot was used as the calibration tool,the "Five-point Calibration Method" for tool calibration and "Get the median after sorting method"for error reduction have been designed,the position and posture of the workpiece coordinate system have been calibrated separately,and the experimental analysis has been carried out.On this basis,the corresponding calibration software has been developed,which makes the calibration process easy to operate.5)Through the processes of the workpiece polishing process planning and polishing trajectory planning,industrial site layout and calibration,and trajectory planning post-processing,the industrial robot program has been got,which will be used in the simulation and debugging of the computer.The industrial robot program has been used to polish the faucet in practice after field debugging.Polishing effect satisfies the industrial requirements and the application process is efficient and feasible.