Research On Modeling And Trajectory Planning Of Stone Carving Manipulator

The industrial robotic manipulators are widely used in manufacturing because they have the advantage of replacing dangerous work,improving production efficiency,and relieving labor stress.At the same time,domestic and foreign manufacturing policies have been proposed,prompting the development of manipulators to the direction of intelligent automation equipment.In order to improve the automation level of the robotic manipulator,the industrial stone carving manipulator is used as the research object,and carried out the research work in this paper.The application fields of stone carving products are more and more extensive,and the requirements and difficulty of stone carving products are gradually increasing.In order to meet the technical requirements of the development of the industry,the stone carving technology has been transformed from traditional manual work to modern semi-mechanized and mechanized operation.In order to complete the overall research work,the theoretical and model basics are studied.Firstly,the structure is analyzed which is composed by the KUKA KR240 R2900 six-degree-of-freedom manipulator and cutting tool,the coordinate system diagram of each joint of the manipulator is established,and the D-H parameter table is built,Kinematics mathematical model of the manipulator is established according to the D-H parameter table of the manipulator,and which is verified in the Simulink.Secondly,in order to analyze the relationship between the joint force and moment of the manipulator and the end effector,the dynamic equation is established by Lagrange method,it is based on the energy solution and does not involve the constraint between the joint motion and the force of the system,which is superior to other analysis methods.Thirdly,During the research of the manipulator,the physical simulation model of the manipulator is established,because of the infinite waste of the experimental stone,the wear of the manipulator,and the complicated formula calculation.This paper mainly builds the SimMechanics physical model of the manipulator.As a sub-module of Simulink,SimMechanics inherits the characteristics of convenient modeling and intuitionistic simulation results.At the same time,combined with SolidWorks and ADAMS software,the virtual prototype of the manipulator is built to simulate and analyze the motion characteristics of the manipulator;in order to realize the data transmission between MATLAB and ADAMS,a co-simulation system of the manipulator is established,and the motion effect of the manipulator is observed simply and conveniently.Finally,In order to prevent the shock of robotic manipulator while machining corner points and cutting suspending operation in the process of machining,an adaptive NURBS interpolation algorithm combined with sine function acceleration/deceleration(ACC/DEC)symmetry profile(S-A-NURBS)is proposed.This method improves the processing accuracy of the manipulator,ensures smooth processing and reduces losses.In order to verify the correctness of the proposed method,the SimMechanics physical model and the ADAMS dynamic simulation model are used to verify the method,and the practicability of the algorithm is verified on the EPSON equipment.