Explosion-proof Design And Trajectory Planning Of Detonator Grabbing Robot

During the production and transportation of detonators,Due to impact,vibration,collision and other factors,it is easy to cause safety accidents,It not only damages the instruments and equipment,but also has potential safety hazards for the operators themselves.In order to make the detonator work more safe and efficient,the key technology of human-machine isolation industrial detonator production robot grasping is studied.In this paper,FANUC M-20 i A and UR10 robots are used as carriers,Grab operation for detonator production,Through the combination of theoretical research and experimental verification,the intrinsic safety protection of the gripper and the forward and inverse kinematics,trajectory planning and optimization of the 6-DOF serial robot are studied systematically.The optimal trajectory of explosion-proof grab and quintic B-spline interpolation based on PSO is designed successfully.The main work is as follows:First of all,an explosion-proof grab is designed to grab the detonator cartridge.On the basis of determining the principle of grab,the structure parameters are optimized with the aim of compact structure and small mass.A kind of explosion-proof shell is designed for the grab by the method of theoretical calculation and finite element simulation.After the structural design of the gripper,the virtual prototype technology is used to verify that the designed gripper meets the design requirements.Secondly,the forward and inverse kinematics of the robot are discussed,A standard D-H model is established for UR10 industrial robot,The MATLAB solutions of forward and inverse kinematics are derived by using homogeneous transformation and inverse transformation respectively,The correctness of the method is verified by programming.Thirdly,based on the forward and inverse kinematics of the robot,the general method of robot trajectory planning is discussed,The basic principles of polynomial and spline interpolating trajectories that meet the operation requirements are derived in depth,And the operation track is designed for the capture of detonator box,after analyzing the simulation data,we get the advantages and disadvantages of each type.In order to ensure the stability of detonator grabbing operation,the quintic B-spline interpolation trajectory is proposed and verified in MATLAB.Finally,in order to make the operation more efficient,a five degree B-spline time acceleration optimization trajectory based on PSO is proposed.Aiming at the multi-objective optimization of time-jerk,an adaptive function using average jerk is proposed,time period is introduced to transform multi-objective optimization into single objective optimization,After finding the optimal trajectory,the optimal trajectory is verified in FANUC M-20 i A,a six degree of freedom industrial robot,and a reasonable trajectoryplanning method is obtained.