Structure Design Of Grinding Robot And Research On The Planning And Simulation Of Trajectory

With the advancement of science and technology,traditional manufacturing industries face both opportunities and challenges;exemplified in the foundry casting processing,especially post processing,owing to the inefficiency and uneven quality attributed to traditional artificial grinding methods.In this paper,an engine block casting is taken as the research object,and a grinding robot is designed to finish the grinding work of the cylinder boss surface.At the same time,the time-optimized bspline trajectory planning method for the grinding robot,based on genetic algorithm,is studied,to improve the robotic grinding efficiency.The main contents of this paper are as follows:Firstly,the body structure design of the grinding robot is executed.According to the grinding requirements of the cylinder boss surface,and the performance of the grinding robot,the overall structure is constructed;and the driving joint,the rod length,the arm structure and the end effector of the robot are designed.The engineering design software,Creo Parametric,is used to complete the 3-D mode of the grinding robot.Furthermore,the finite element analysis software,ANSYS Workbench,is used to simulate the mechanical properties of the grinding robot.Secondly,the kinematics model of the grinding robot is studied.The kinematics mathematical model and the kinematics equation of the grinding robot is established according to the D-H coordinate parameter method,and the kinematics analysis is performed.The inverse kinematics solution process for the grinding robot is deduced,and the accuracy of the kinematics equation is verified.At the same time,the effective workspace of the grinding robot is studied and analyzed through the robot movement simulation model established in the MATLAB Robotic Toolbox.Thirdly,the trajectory planning for the grinding robot is reviewed.The advantages and disadvantages of common trajectory planning methods in joint space are compared and analyzed.Based on the discussion of the geometric characteristics of B-spline curves,and the optimization principle of genetic algorithms,a method that uses cubic B-spline curve fitting the joint trajectory of grinding robots in combination with the time optimal genetic algorithm for robot trajectory optimization is researched.In this method,the time interval between adjacent control points is used as the optimization variable to establish the fitness function and genetic algorithm optimization model.By optimizing the movement time of each B-spline curve,the total movement time is minimized.Finally,the trajectory planning simulation analysis for grinding robots is implemented.In the MATLAB Robotic Toolbox,the simulation compares and analyzes positions,speeds,accelerations,and jerk curves of each joint with time change,before and after optimization.The results reveal an obviously shortened optimized trajectory time,a smooth position and speed curve,with time change,of each joint,and a continuous acceleration curve,without mutation;thus verifying efficacy of the trajectory planning algorithm.