MOTOMAN UP50 Robot Is Cutting Research On Dynamics And Application In Machining

When the robot is cutting,the dynamic characteristics of the robot have a great influence on the quality and efficiency of the cutting process.Therefore,this article explores the dynamics of the robot during the cutting process.This article takes MOTOMAN UP50 industrial robot from Yaskawa Company as the research object.On the basis of constructing the kinematics model of the robot,the dynamic parameters of the cutting robot are established by using the obtained dynamic parameters of the three-dimensional model of the robot.The task space describes the position and attitude relationship between the two;secondly,by analyzing the dynamic state of the cutting robot in the cutting process,the dynamic optimization of the cutting robot in the task space and the optimization of the cutting path based on dynamic This application study hopes to achieve the purpose of improving the cutting quality of robots.(1)Establishment of robot kinematics model.The SolidWorks software was used to build a three-dimensional model of the robot and the D-H post coordinate method was used to establish the attached coordinate system and kinematic equations of the MOTOMAN UP50 robot.At the same time,the forward and inverse kinematic solutions were verified in the MATLAB environment.(2)Analysis and Research of Robot Work Space and Task Space.According to the rotation range of each joint of the robot,MATLAB software was used to study the robot's working space and a typical task space was used as a subspace of the cutting robot's working space to describe the posture relationship between the two.(3)The establishment of MOTOMAN UP50 robot dynamics equation.The dynamic model of the cutting robot was established by using the dynamic parameters obtained from the three-dimensional model of the robot,and the dynamic state of the cutting robot was analyzed based on MATLAB programming calculation and ADAMS simulation analysis.(4)Dynamic Optimization of Cutting Robot's Task Space.Aiming at the characteristics of the six-degree-of-freedom cutting robot calculation,based on the analysis of the relative positions and dynamic models of the robot's working space and the task space,the genetic algorithm was used to obtain the optimal position of the task space in the robot's working space.The optimization algorithm was debuggedand tested.At the same time,based on the simulation analysis of the driving torque,angular displacement,angular velocity and angular acceleration of the joints of the robot with time,the rationality of the dynamic optimization of the cutting robot's task space was verified.(5)Optimization of cutting path based on dynamics.Based on the dynamics of the MOTOMAN UP50 robot,the optimization of cutting motion trajectories is studied.By comparing the kinematics and dynamic states of the robot under two types of cutting trajectories,it is illustrated that the end processing trajectories of the robot are based on the dynamics of the robot.It makes sense to optimize.