Structural Design And Trajectory Planning Of Six Degrees Of Freedom Industrial Robot For Molten Quartz Ceramic Crucible Detection

With the introduction of "Made in China 2025",intelligent manufacturing engineering has attracted much attention.The focus of the intelligent manufacturing project is to build the intelligent manufacturing standard system and intelligent factories,reduce the operating costs of enterprises,shorten the product manufacturing cycle,and reduce the defective rate of products.Through demonstration and promotion,the state has promoted the implementation of policies in other parts of the country.Industrial robots and other intelligent equipment show explosive sales,major enterprises have built intelligent manufacturing plants,reduce costs and improve efficiency,to achieve mechanized replacement,automation to reduce people.In the photovoltaic industry,the manufacturing of fused quartz ceramic crucible is one of the important links.At present,the detection of product qualification rate is mainly completed by manual work,with low detection efficiency,serious omission and great harm to human body caused by some chemical reagents.Robots replace human to complete the test,and become the best choice for industrial upgrading.This paper optimizes the calculation method of robot workspace and combines the requirements of the robot's working space with the actual situation to design a series of six degrees of freedom for the ceramic quartz crucible detection,which provides a new method for optimizing the structural design of industrial robot.The D-H motion model is established based on the above designed structural parameters of the robot,and the forward and inverse kinematic solutions of the robot were derived from the data.In the MATLAB environment,write the solution to the inverse kinematics of the robot and analyze the unique solution of the program.The simulated robot path with the same parameters is compared with the actual path of the existing robot,which provides a reference for the determination of the unique solution of the inverse kinematics of the robot.Finally,the trajectory planning of the robot is carried out in joint space and Cartesian space respectively.when the trajectory planning of joint space is carried out,the advantages and disadvantages of cubic curve,quintic curve,trapezoidal curve and S curve are calculated and analyzed respectively.A parabolic over-linear interpolation scheme is used in Cartesian space.The method of trajectory planning in the above two cases is simulated and verified,and the feasibility of the method is determined.