The Reserch And Implementation Of Balancing System Parameters Optimization And Motion Planning For Heavy-duty Robot

Taking Jiangsu Province Transformation Project of Scientific and Technological Achievements "Development and Industrialization of Core Technology of High Speed and Heavy Duty Industrial Robots" as the background,aiming at the 150kg heavy-duty robot developed by Kunshan Huaheng Welding Co.,Ltd.,the mathematical modeling and parameters optimization of its liquid-gas balance system are carried out,and the motion planning method of heavy-duty robot for handling operation is studied,and the related application software package is developed.In this dissertation,the working principle of the liquid-gas balance system is analyzed and analyzed.On this basis,the theoretical model of the equilibrium torque of the heavy-duty robot is established.The deflection moment of the joint axis of the robot is deduced and established.Mathematical model of liquid-gas balance system for heavy-duty robot.The correctness of the model was verified by Huaheng 150kg heavy-duty robot balance system experiment.In order to obtain the more accurate parameters of the equilibrium torque model,the parameters of the equilibrium torque model are identified and the identification results and model accuracy are obtained.On the basis of analyzing the balance effect of the existing heavy-duty robot balance system,in order to further improve the balance effect,the parameters of the balance system are optimized,which provides the basis for the optimization design of the heavy-duty robot balance system.Secondly,the motion planning of heavy-duty robot for handling operations is studied in dissertation.In order to avoid the obvious resonance and shock at the end of the high-speed/variable-speed motion of the heavy-duty robot,the joint space five-degree polynomial interpolation method is used to track the smoothness of the planning trajectory,speed,acceleration continuity.At the same time,in order to improve the efficiency of the robot,control the energy consumption of the robot and ensure the flexibility of the robot movement and the accuracy of the trajectory.In the motion planning,the performance indicators such as time,energy consumption,condition number and end trajectory deviation are taken into account Multi-objective weighting method is used to establish the mathematical optimization model for the motion planning of heavy-load robot,and its algorithm is solved by genetic algorithm.After planning the movement trajectory of heavy-duty robot handling operation,the simulation and experiment of heavy-duty robot motion planning are carried out in dissertation.Firstly,the motion planning simulation based on Matlab software is carried out to verify the effectiveness of the motion planning method.In order to verify the practical effect of the motion planning method,the heavy-duty robot developed by Kunshan Huaheng Welding Co.,Ltd.has carried out the actual operation experiment with point-to-point handling 150kg load.The experimental data show that the robot is optimized by multi-The energy consumption,the number of conditions and the end trajectory deviation of the trajectory are reduced by 24.85%,2.02%and 15.94%respectively by time single target.The experimental results show that the proposed method can not only make the robot move quickly and smoothly,but also keep the robot in good flexibility,and the robot is under the heavy load.The deviation of the end trajectory is also small,the energy consumed by the robot Can be effectively controlled to meet the movement requirements of the actual handling of heavy-duty robots.Finally,a software package for the heavy-duty robot movement planning for the handling operation is developed.The software includes function modules such as robot motion parameter setting,trajectory planning,transportation operation simulation and real-time monitoring.And the integration of the software package and offline programming and simulation common platform ROBOLP is realized.Finally,the software experiment and the simulation experiment of the robot handling operation are carried out.The correctness and rationality of the software design are verified,and the expected development goal is achieved.