Trajectory Planning And Parameter Optimization Of 6-DOF Translational Pendulum Feeding Robot

Modern industrial production has higher requirements for the stability and efficiency of robot motion.Reasonable and efficient trajectory planning can improve the motion performance of industrial robots and improve the automation level of industrial production.At present,the research on trajectory planning and optimization of industrial robots is more focused on the universal 6-DOF joint robot,while the research on special robots is relatively small,which seriously restricts the development of special robots.There are differences in mechanical structure and motion mode between them,which leads to differences in the research of key technologies such as robot kinematics and trajectory planning.In order to improve the high-speed motion stability and working efficiency of the special robot,this paper takes the MH-6-60 special 6-DOF translational pendulum feeding robot as the research object.Based on the kinematic analysis of the robot,the trajectory planning and time parameter optimization are studied.The main research contents are as follows:Firstly,according to the body structure of the translational pendulum feeding robot,the improved D-H parameter method is used to establish the forward kinematics mathematical model of the robot;the MATLAB software is used to carry out the kinematics simulation of the robot to verify the correctness of the established forward kinematics mathematical model;based on the mathematical model,the numerical method is used to analyze the working space of the robot,and the point cloud of the working space is obtained figure.The research shows that the robot's working space is a sector cylinder with compact structure.The maximum stroke in X,Y and Z directions can reach 2300 mm,7500 mm and 1000 mm.Secondly,the inverse kinematics of the translational pendulum feeding robot is studied.Based on the forward kinematics mathematical model,the closed solution is used to solve the inverse kinematics,and the inverse solution of each joint of the robot is obtained.Aiming at the problem that the inverse solution has multiple solutions,the genetic algorithm is used to optimize the inverse solution,and the optimal inverse solution combination is obtained.The results show that the error of the robot end position calculated by the inverse solution combination is less than 0.05 mm.Thirdly,in order to improve the motion stability and joint smoothness of the robot,the joint space trajectory planning is studied.According to the task of the robot,the time-position sequence of the robot is obtained by the inverse kinematics method;based on the sequence point,the trajectory planning is carried out by using five times non-uniform B-spline interpolation function,and the kinematic simulation is carried out to obtain the velocity,acceleration and acceleration curves of each joint of the robot.The research shows that with this method for trajectory planning,the kinematics curves of each joint of the robot are continuous and smooth without mutations,which improves the movement stability of the translational pendulum feeding robot.Finally,in order to improve the working efficiency of the robot,the genetic algorithm of time parameters is optimized on the basis of trajectory planning.The mathematical model of the shortest moving time of the robot is given,and the kinematic parameters of each joint are constrained.The algorithm programming and simulation are carried out based on MATLAB platform,and the shortest running time and the kinematic curves of the first four joints are obtained.The results show that the optimized movement time is reduced by 9.5%.