Path Planning For Heavy Load Casting Robot

With the rapid development of science and technology,the integrated robot technology of information,material,physics and chemistry has made great progress,and has entered a new era of opening.In recent years,the "China made in 2025" proposed by the Chinese government calls for the replacement of the backward Chinese manufacturing industry with advanced "intelligent manufacturing".At the same time,robot intelligent manufacturing technology has also been listed as the priority research direction of national scientific and technological innovation.Therefore,increasing investment in intelligent robot manufacturing technology has become an inevitable choicefor China'sstrategiclayout.Robot intelligent manufacturing technology has become a research hotspot at home and abroad.Although the application of robots is more and more extensive,its path planning problems still have obvious defects.At present,there are many intelligent algorithms for robot path planning in the field of scientific research,but most of them have relative defects,which can not solve the problem of robot path planning well.On this basis,a path planning method for heavy load casting robotisputforward.This paper first introduces the research background and significance of this research,and expounds the research status of the casting robot,robot path planning and ant colony algorithm related to the content of the subject.Secondly,the algorithm and technology related to this paper are introduced,the algorithm of path planning of mobile robot and the main contents of classical ant colony algorithm and artificial potential field method are expounded.The advantages and disadvantages of the two algorithms are compared,and the application of grid method to map constructionisdiscussed.Then the robot path planning implementation and simulation are described.First,the classical ant colony algorithm is simulated,and the advantages and disadvantages of the classical ant colony algorithm in robot path planning are analyzed by simulation results.Then the robot path planning based on artificial potential field is introduced and simulated,and the problems existing in the artificial potential field method are analyzed.Finally,the defects and some shortcomings of the two algorithms are compared,and the potential field ant colony algorithm is put forward based on the combination of the two algorithms.The potential field ant colony algorithm is verified and simulated,andtheexperimentalresults aresatisfactory.Since the movement of the casting robot can not only be on the two-dimensional plane,it finally introduces the research of the three-dimensional path planning,and then expounds the improved ant colony algorithm of the three-dimensional environment.Finally,the path planning of heavy load casting robot is simulated.The final smoothness of the path planned by the ant colony algorithm and the simulation expectation ofthe path planning of the three dimensional environment of the foundry robot can be used as a reference for the research of the path planning of the casting robot in China.