Study On The Workspace And Trajectory Planning Of Multi-arm Casting Cleaning Robot

With the development of the Chinese industry,the daily production of casting is increased rapidly.To meet the production of the casting industry,research group studied a multi-arm casting cleaning robot which assembled movable arms.Unlike traditional robots,multi-arm robot could accomplish the handling and cleaning of the casting which have the great heavy and complicated structure.The paper was the study about the multi-arm robot workspace and trajectory planning.The paper introduced domestic and international development of the multi-arm robot architecture,robot workspace and trajectory in detail.The forward kinematic modeling about work arms was established by screw theory.Simplified the process of the inverse kinematics by the sub-problems and optimize the joint angle.Based on the Monte Carlo method,the cloud of points about robot workspace was simulated on MATLAB software.Workspace bound curves was extracted by the extremum method.Then casting dimension could be obtained by calculation.Descartes interpolations was used to plan the process of handling trajectory.Polynomial interpolations was used to obtain coefficient matrix in the cleaning trajectory planning.Under the constraint of velocity,the breed algorithm used to optimize the interpolation resulted to obtain the optimal motion time of manipulator.Contrast to the traditional algorithm,the breed has the higher precision and more rapid speed in the convergence procedure.By analyzing the robot motion curves,the optimized trajectory could satisfy the casting requirement.